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src
empty_listener.cpp
Go to the documentation of this file.
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/*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <
ros/ros.h
>
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#include <
tf/transform_listener.h
>
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int
main
(
int
argc,
char
** argv)
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{
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ros::init
(argc, argv,
"my_tf_listener"
);
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ros::NodeHandle
node;
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tf::TransformListener
listener;
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ros::Rate
rate(10.0);
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while
(node.
ok
()){
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tf::StampedTransform
transform;
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try
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{
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listener.
lookupTransform
(
"odom_combined"
,
"base_link"
,
ros::Time
(0), transform);
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}
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catch
(
tf::TransformException
ex)
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{
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ROS_ERROR
(
"%s"
,ex.what());
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}
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rate.
sleep
();
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}
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return
0;
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};
transform_listener.h
main
int main(int argc, char **argv)
Definition:
empty_listener.cpp:33
ros::NodeHandle
ros::Time
ros::init
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ros::Rate
tf2::TransformException
tf::Transformer::lookupTransform
void lookupTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time, StampedTransform &transform) const
Get the transform between two frames by frame ID.
Definition:
tf.cpp:238
ros::Rate::sleep
bool sleep()
ros.h
tf::TransformListener
This class inherits from Transformer and automatically subscribes to ROS transform messages...
Definition:
transform_listener.h:69
ros::NodeHandle::ok
bool ok() const
ROS_ERROR
#define ROS_ERROR(...)
tf::StampedTransform
The Stamped Transform datatype used by tf.
Definition:
transform_datatypes.h:81
tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Mon Jun 10 2019 12:25:26