.. _program_listing_file__tmp_ws_src_robot_state_publisher_include_robot_state_publisher_robot_state_publisher.hpp:

Program Listing for File robot_state_publisher.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_robot_state_publisher_include_robot_state_publisher_robot_state_publisher.hpp>` (``/tmp/ws/src/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2008, Willow Garage, Inc.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the Willow Garage nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   /* Author: Wim Meeussen */
   
   #ifndef ROBOT_STATE_PUBLISHER__ROBOT_STATE_PUBLISHER_HPP_
   #define ROBOT_STATE_PUBLISHER__ROBOT_STATE_PUBLISHER_HPP_
   
   #include <map>
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "builtin_interfaces/msg/time.hpp"
   #include "kdl/tree.hpp"
   #include "rcl_interfaces/msg/parameter_event.hpp"
   #include "rcl_interfaces/msg/set_parameters_result.hpp"
   #include "rclcpp/rclcpp.hpp"
   #include "sensor_msgs/msg/joint_state.hpp"
   #include "std_msgs/msg/string.hpp"
   #include "tf2_ros/static_transform_broadcaster.h"
   #include "tf2_ros/transform_broadcaster.h"
   #include "urdf/model.h"
   
   using MimicMap = std::map<std::string, urdf::JointMimicSharedPtr>;
   
   namespace robot_state_publisher
   {
   
   class SegmentPair final
   {
   public:
     explicit SegmentPair(
       const KDL::Segment & p_segment,
       const std::string & p_root,
       const std::string & p_tip)
     : segment(p_segment), root(p_root), tip(p_tip) {}
   
     KDL::Segment segment;  
     std::string root;  
     std::string tip;  
   };
   
   class RobotStatePublisher : public rclcpp::Node
   {
   public:
     explicit RobotStatePublisher(const rclcpp::NodeOptions & options);
   
   protected:
     KDL::Tree parseURDF(const std::string & urdf_xml, urdf::Model & model);
   
   
     void setupURDF(const std::string & urdf_xml);
   
   
     void addChildren(
       const urdf::Model & model,
       const KDL::SegmentMap::const_iterator segment);
   
   
     void publishTransforms(
       const std::map<std::string, double> & joint_positions,
       const builtin_interfaces::msg::Time & time);
   
     void publishFixedTransforms();
   
   
     void callbackJointState(const sensor_msgs::msg::JointState::ConstSharedPtr state);
   
   
     rcl_interfaces::msg::SetParametersResult parameterUpdate(
       const std::vector<rclcpp::Parameter> & parameters);
   
   
     void onParameterEvent(std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event);
   
     std::map<std::string, SegmentPair> segments_;
   
     std::map<std::string, SegmentPair> segments_fixed_;
   
     std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
   
     std::unique_ptr<tf2_ros::StaticTransformBroadcaster> static_tf_broadcaster_;
   
     rclcpp::Publisher<std_msgs::msg::String>::SharedPtr description_pub_;
   
     rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_sub_;
   
     rclcpp::Time last_callback_time_;
   
     std::map<std::string, builtin_interfaces::msg::Time> last_publish_time_;
   
     MimicMap mimic_;
   
     rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_cb_;
   
     std::shared_ptr<rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent,
       std::allocator<void>>> parameter_subscription_;
   };
   
   }  // namespace robot_state_publisher
   
   #endif  // ROBOT_STATE_PUBLISHER__ROBOT_STATE_PUBLISHER_HPP_