urdf_visualizer.cc
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2 Copyright (c) 2017, Alexander W. Winkler. All rights reserved.
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29 
31 
32 namespace xpp {
33 
34 UrdfVisualizer::UrdfVisualizer(const std::string& urdf_name,
35  const std::vector<URDFName>& joint_names_in_urdf,
36  const URDFName& base_joint_in_urdf,
37  const std::string& fixed_frame,
38  const std::string& state_topic,
39  const std::string& tf_prefix)
40 {
41  joint_names_in_urdf_ = joint_names_in_urdf;
42  base_joint_in_urdf_ = base_joint_in_urdf;
43  rviz_fixed_frame_ = fixed_frame;
44  tf_prefix_ = tf_prefix;
45 
47  state_sub_des_ = nh.subscribe(state_topic, 1, &UrdfVisualizer::StateCallback, this);
48  ROS_DEBUG("Subscribed to: %s", state_sub_des_.getTopic().c_str());
49 
50  // Load model from file
51  KDL::Tree my_kdl_tree;
52  urdf::Model my_urdf_model;
53  bool model_ok = my_urdf_model.initParam(urdf_name);
54  if(!model_ok)
55  {
56  ROS_ERROR("Invalid URDF File");
57  exit(EXIT_FAILURE);
58  }
59  ROS_DEBUG("URDF successfully parsed");
60  kdl_parser::treeFromUrdfModel(my_urdf_model, my_kdl_tree);
61  ROS_DEBUG("Robot tree is ready");
62 
63  robot_publisher = std::make_shared<robot_state_publisher::RobotStatePublisher>(my_kdl_tree);
64 }
65 
66 void
67 UrdfVisualizer::StateCallback(const xpp_msgs::RobotStateJoint& msg)
68 {
69  auto joint_positions = AssignAngleToURDFJointName(msg.joint_state);
70  auto W_X_B_message = GetBaseFromRos(::ros::Time::now(), msg.base.pose);
71 
72  tf_broadcaster_.sendTransform(W_X_B_message);
73  robot_publisher->publishTransforms(joint_positions, ::ros::Time::now(), tf_prefix_);
74  robot_publisher->publishFixedTransforms(tf_prefix_);
75 }
76 
78 UrdfVisualizer::AssignAngleToURDFJointName(const sensor_msgs::JointState &msg) const
79 {
81 
82  for (int i=0; i<msg.position.size(); ++i)
83  q[joint_names_in_urdf_.at(i)] = msg.position.at(i);
84 
85  return q;
86 }
87 
88 geometry_msgs::TransformStamped
89 UrdfVisualizer::GetBaseFromRos(const ::ros::Time& stamp,
90  const geometry_msgs::Pose &msg) const
91 {
92  // Converting from joint messages to robot state
93  geometry_msgs::TransformStamped W_X_B_message;
94  W_X_B_message.header.stamp = stamp;
95  W_X_B_message.header.frame_id = rviz_fixed_frame_;
96  W_X_B_message.child_frame_id = tf_prefix_ + "/" + base_joint_in_urdf_;
97 
98  W_X_B_message.transform.translation.x = msg.position.x;
99  W_X_B_message.transform.translation.y = msg.position.y;
100  W_X_B_message.transform.translation.z = msg.position.z;
101 
102  W_X_B_message.transform.rotation.w = msg.orientation.w;
103  W_X_B_message.transform.rotation.x = msg.orientation.x;
104  W_X_B_message.transform.rotation.y = msg.orientation.y;
105  W_X_B_message.transform.rotation.z = msg.orientation.z;
106 
107  return W_X_B_message;
108 }
109 
110 } // namespace xpp
UrdfnameToJointAngle AssignAngleToURDFJointName(const sensor_msgs::JointState &msg) const
void StateCallback(const xpp_msgs::RobotStateJoint &msg)
KDL_PARSER_PUBLIC bool treeFromUrdfModel(const urdf::ModelInterface &robot_model, KDL::Tree &tree)
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
tf::TransformBroadcaster tf_broadcaster_
std::map< URDFName, double > UrdfnameToJointAngle
std::shared_ptr< robot_state_publisher::RobotStatePublisher > robot_publisher
std::vector< URDFName > joint_names_in_urdf_
std::string rviz_fixed_frame_
std::string getTopic() const
void sendTransform(const StampedTransform &transform)
URDF_EXPORT bool initParam(const std::string &param)
geometry_msgs::TransformStamped GetBaseFromRos(const ::ros::Time &stamp, const geometry_msgs::Pose &msg) const
UrdfVisualizer(const std::string &urdf_name, const std::vector< URDFName > &joint_names_in_urdf, const URDFName &base_link_in_urdf, const std::string &rviz_fixed_frame, const std::string &state_topic, const std::string &tf_prefix="")
Constructs the visualizer for a specific URDF urdf_name.
static Time now()
URDFName base_joint_in_urdf_
#define ROS_ERROR(...)
ros::Subscriber state_sub_des_
#define ROS_DEBUG(...)


xpp_vis
Author(s): Alexander W. Winkler
autogenerated on Tue Dec 8 2020 03:10:32