robot_state_publisher.h
Go to the documentation of this file.
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2008, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Willow Garage nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Wim Meeussen */
36 
37 #ifndef ROBOT_STATE_PUBLISHER_H
38 #define ROBOT_STATE_PUBLISHER_H
39 
40 #include <ros/ros.h>
41 #include <boost/scoped_ptr.hpp>
42 #include <tf/tf.h>
43 #include <urdf/model.h>
46 #include <kdl/frames.hpp>
47 #include <kdl/segment.hpp>
48 #include <kdl/tree.hpp>
49 
50 namespace robot_state_publisher {
51 
53 {
54 public:
55  SegmentPair(const KDL::Segment& p_segment, const std::string& p_root, const std::string& p_tip):
56  segment(p_segment), root(p_root), tip(p_tip){}
57 
59  std::string root, tip;
60 };
61 
62 
64 {
65 public:
69  RobotStatePublisher(const KDL::Tree& tree, const urdf::Model& model = urdf::Model());
70 
73 
78  virtual void publishTransforms(const std::map<std::string, double>& joint_positions, const ros::Time& time, const std::string& tf_prefix);
79  virtual void publishFixedTransforms(const std::string& tf_prefix, bool use_tf_static = false);
80 
81 protected:
82  virtual void addChildren(const KDL::SegmentMap::const_iterator segment);
83 
84  std::map<std::string, SegmentPair> segments_, segments_fixed_;
88 };
89 
90 }
91 
92 #endif
std::map< std::string, SegmentPair > segments_fixed_
tf2_ros::TransformBroadcaster tf_broadcaster_
SegmentPair(const KDL::Segment &p_segment, const std::string &p_root, const std::string &p_tip)
tf2_ros::StaticTransformBroadcaster static_tf_broadcaster_


robot_state_publisher
Author(s): Ioan Sucan , Jackie Kay , Wim Meeussen
autogenerated on Tue Sep 3 2019 03:44:13