pose2Tf_repeat.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
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 *     contributors may be used to endorse or promote products derived
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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;
bool pose_received;
geometry_msgs::Pose last_pose;

void poseCallback(const geometry_msgs::Pose &msg)
{
  last_pose = msg;
  pose_received = true;
}

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]);

  pose_received = false;
  ros::Subscriber sub = nh.subscribe("/pose", 10, &poseCallback);
  static tf::TransformBroadcaster br;

  while(ros::ok())
  {
    ros::spinOnce();
    if(pose_received)
    {
      tf::Transform target_transform;
      tf::poseMsgToTF(last_pose, target_transform);
      br.sendTransform(tf::StampedTransform(
                         target_transform, ros::Time::now(),
                         parent_name, child_name));
    }
  }

  return 0;
};