Program Listing for File transform_publisher.hpp
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/*
* Copyright (c) 2018, Bosch Software Innovations GmbH.
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#ifndef RVIZ_VISUAL_TESTING_FRAMEWORK__TRANSFORM_PUBLISHER_HPP_
#define RVIZ_VISUAL_TESTING_FRAMEWORK__TRANSFORM_PUBLISHER_HPP_
#include <memory>
#include <string>
#include <thread>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/clock.hpp"
#include "std_msgs/msg/header.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2_ros/static_transform_broadcaster.h"
#include "internal/transform_message_creator.hpp"
struct StaticTransform
{
StaticTransform(
std::string origin_frame, std::string destination_frame,
int x, int y, int z, int roll, int pitch, int yaw)
: origin_frame(origin_frame),
destination_frame(destination_frame),
x(x),
y(y),
z(z),
roll(roll),
pitch(pitch),
yaw(yaw)
{}
std::string origin_frame;
std::string destination_frame;
int x;
int y;
int z;
int roll;
int pitch;
int yaw;
geometry_msgs::msg::TransformStamped createStaticTransformMessage()
{
return createStaticTransformMessageFor(
origin_frame, destination_frame, x, y, z, roll, pitch, yaw);
}
};
class TransformPublisher
{
public:
TransformPublisher(std::string frame_name, int x, int y, int z, int roll, int pitch, int yaw)
: TransformPublisher({StaticTransform("map", frame_name, x, y, z, roll, pitch, yaw)})
{}
explicit TransformPublisher(std::vector<StaticTransform> transforms)
{
nodes_spinning_ = true;
transforms_ = transforms;
publisher_thread_ = std::thread(
&TransformPublisher::publishOnFrame, this);
}
~TransformPublisher()
{
nodes_spinning_ = false;
publisher_thread_.join();
}
private:
void publishOnFrame()
{
auto transformer_publisher_node = std::make_shared<rclcpp::Node>("static_transform_publisher");
tf2_ros::StaticTransformBroadcaster broadcaster(transformer_publisher_node);
rclcpp::WallRate loop_rate(0.2);
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(transformer_publisher_node);
while (nodes_spinning_) {
for (auto transform : transforms_) {
broadcaster.sendTransform(transform.createStaticTransformMessage());
}
executor.spin_some();
loop_rate.sleep();
}
}
std::vector<StaticTransform> transforms_;
std::atomic<bool> nodes_spinning_;
std::thread publisher_thread_;
};
#endif // RVIZ_VISUAL_TESTING_FRAMEWORK__TRANSFORM_PUBLISHER_HPP_