static_transform_broadcaster_program.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <cstdio>
00031 #include "tf2_ros/static_transform_broadcaster.h"
00032 
00033 int main(int argc, char ** argv)
00034 {
00035   //Initialize ROS
00036   ros::init(argc, argv,"static_transform_publisher", ros::init_options::AnonymousName);
00037   tf2::StaticTransformBroadcaster broadcaaster;
00038 
00039   if(argc == 10)
00040   {
00041 
00042     if (strcmp(argv[8], argv[9]) == 0)
00043     {
00044       ROS_FATAL("target_frame and source frame are the same (%s, %s) this cannot work", argv[8], argv[9]);
00045       return 1;
00046     }
00047 
00048     geometry_msgs::TransformStamped msg;
00049     msg.transform.translation.x = atof(argv[1]);
00050     msg.transform.translation.y = atof(argv[2]);
00051     msg.transform.translation.z = atof(argv[3]);
00052     msg.transform.rotation.x = atof(argv[4]);
00053     msg.transform.rotation.y = atof(argv[5]);
00054     msg.transform.rotation.z = atof(argv[6]);
00055     msg.transform.rotation.w = atof(argv[7]);
00056     msg.header.stamp = ros::Time::now();
00057     msg.header.frame_id = argv[8];
00058     msg.child_frame_id = argv[9];
00059   
00060 
00061 
00062   broadcaaster.sendTransform(msg);
00063   ROS_INFO("Spinning until killed publishing %s to %s", msg.header.frame_id.c_str(), msg.child_frame_id.c_str());
00064   ros::spin();
00065 
00066   return 0;
00067 } 
00068 /*  else if (argc == 10)
00069   {
00070     ros::Duration sleeper(atof(argv[9])/1000.0);
00071 
00072     if (strcmp(argv[7], argv[8]) == 0)
00073       ROS_FATAL("target_frame and source frame are the same (%s, %s) this cannot work", argv[7], argv[8]);
00074 
00075     TransformSender tf_sender(atof(argv[1]), atof(argv[2]), atof(argv[3]),
00076                               atof(argv[4]), atof(argv[5]), atof(argv[6]),
00077                               ros::Time() + sleeper, //Future dating to allow slower sending w/o timeout
00078                               argv[7], argv[8]);
00079 
00080 
00081 
00082     while(tf_sender.node_.ok())
00083     {
00084       tf_sender.send(ros::Time::now() + sleeper);
00085       ROS_DEBUG("Sending transform from %s with parent %s\n", argv[7], argv[8]);
00086       sleeper.sleep();
00087     }
00088     return 0;
00089 
00090     }*/
00091   else
00092   {
00093     printf("A command line utility for manually sending a transform.\n");
00094     printf("It will periodicaly republish the given transform. \n");
00095     printf("Usage: static_transform_publisher x y z yaw pitch roll frame_id child_frame_id \n");
00096     //printf("OR \n");
00097     //printf("Usage: static_transform_publisher x y z qx qy qz qw frame_id child_frame_id \n");
00098     printf("\nThis transform is the transform of the coordinate frame from frame_id into the coordinate frame \n");
00099     printf("of the child_frame_id.  \n");
00100     ROS_ERROR("static_transform_publisher exited due to not having the right number of arguments");
00101     return -1;
00102   }
00103 
00104 
00105 };
00106 


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Mon Oct 6 2014 00:12:49