pose2Tf.cpp

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/*
 * Software License Agreement (Modified BSD License)
 *
 *  Copyright (c) 2012, PAL Robotics, S.L.
 *  All rights reserved.
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 *     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 PAL Robotics, S.L. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <geometry_msgs/Pose.h>
#include <string>

std::string parent_name;
std::string child_name;

void poseCallback(const geometry_msgs::Pose &msg)
{
  static tf::TransformBroadcaster br;
  tf::Transform target_transform;
  tf::poseMsgToTF(msg, target_transform);
  br.sendTransform( tf::StampedTransform(target_transform, ros::Time::now(),
                                         parent_name, child_name));
}

int main(int argc, char** argv){
  ros::init(argc, argv, "pose2Tf");
  ros::NodeHandle nh;
  if(argc < 3)
  {
    ROS_ERROR("pose2Tf node requires a parent and a child name to publish to tf.");
    return -1;
  }

  parent_name = std::string(argv[1]);
  child_name = std::string(argv[2]);

  ros::Subscriber sub = nh.subscribe("/pose", 10, &poseCallback);
  ros::spin();
  return 0;
};