Program Listing for File visual_test_publisher.hpp
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/*
* Copyright (c) 2018, Bosch Software Innovations GmbH.
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#ifndef RVIZ_VISUAL_TESTING_FRAMEWORK__VISUAL_TEST_PUBLISHER_HPP_
#define RVIZ_VISUAL_TESTING_FRAMEWORK__VISUAL_TEST_PUBLISHER_HPP_
#include <chrono>
#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/LinearMath/Quaternion.h"
#include "tf2_ros/static_transform_broadcaster.h"
#include "internal/transform_message_creator.hpp"
struct PublisherWithFrame
{
PublisherWithFrame(std::shared_ptr<rclcpp::Node> publisher_node, std::string frame_name)
: publisher_node_(publisher_node), frame_name_(frame_name) {}
std::shared_ptr<rclcpp::Node> publisher_node_;
std::string frame_name_;
};
class VisualTestPublisher
{
public:
VisualTestPublisher(std::shared_ptr<rclcpp::Node> publisher_node, std::string frame_name)
{
nodes_spinning_ = true;
std::vector<PublisherWithFrame> publishers = {PublisherWithFrame(publisher_node, frame_name)};
publisher_thread_ = std::thread(
&VisualTestPublisher::publishOnFrame, this, publishers);
}
explicit VisualTestPublisher(std::vector<PublisherWithFrame> publishers)
{
nodes_spinning_ = true;
publisher_thread_ = std::thread(&VisualTestPublisher::publishOnFrame, this, publishers);
}
~VisualTestPublisher()
{
nodes_spinning_ = false;
publisher_thread_.join();
}
private:
void publishOnFrame(std::vector<PublisherWithFrame> publishers)
{
auto transformer_publisher_node = std::make_shared<rclcpp::Node>("static_transform_publisher");
tf2_ros::StaticTransformBroadcaster broadcaster(transformer_publisher_node);
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(transformer_publisher_node);
std::vector<geometry_msgs::msg::TransformStamped> transform_messages;
for (auto publisherWithFrame : publishers) {
executor.add_node(publisherWithFrame.publisher_node_);
transform_messages.push_back(
createStaticTransformMessageFor("map", publisherWithFrame.frame_name_));
}
while (nodes_spinning_) {
for (const auto & msg : transform_messages) {
broadcaster.sendTransform(msg);
}
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}
}
std::atomic<bool> nodes_spinning_;
std::thread publisher_thread_;
};
#endif // RVIZ_VISUAL_TESTING_FRAMEWORK__VISUAL_TEST_PUBLISHER_HPP_