testBroadcaster.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *       this software without specific prior written permission.
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#include <chrono>
#include <thread>
#include "tf/transform_broadcaster.h"
#include "ros/ros.h"

class testBroadcaster 
{
public:
  //constructor
  testBroadcaster() : count(0), count1(0){};
  //Clean up ros connections
  ~testBroadcaster() { }

  //A pointer to the rosTFServer class
  tf::TransformBroadcaster broadcaster;


  // A function to call to send data periodically
  void test () {
    broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::createIdentityQuaternion(), tf::Vector3(1,2,3)), ros::Time().fromSec(1), "frame2", "frame1"));

    if (count > 9000)
    {
      count = 0;
      std::cerr<<"Counter 0 rolledover at 9000"<< std::endl;
    }
    else
      count ++;
    //std::cerr<<count<<std::endl;
  }

  // A function to call to send data periodically
  void test_vector () {
    std::vector<tf::StampedTransform> vec;
    vec.push_back(tf::StampedTransform(tf::Transform(tf::createIdentityQuaternion(), tf::Vector3(1,2,3)), ros::Time().fromSec(1), "vframe2", "vframe1"));
    vec.push_back(tf::StampedTransform(tf::Transform(tf::createIdentityQuaternion(), tf::Vector3(1,2,3)), ros::Time().fromSec(1), "vframe1", "vframe0"));
    broadcaster.sendTransform(vec);

    if (count1 > 9000)
    {
      count1 = 0;
      std::cerr<<"Counter 1 rolledover at 9000"<< std::endl;
    }
    else
      count1 ++;
    //std::cerr<<count1<<std::endl;
  }
private:
  int count;
  int count1;

};

int main(int argc, char ** argv)
{
  //Initialize ROS
  ros::init(argc, argv, "testBroadcaster", ros::init_options::AnonymousName);

  //Construct/initialize the server
  testBroadcaster myTestBroadcaster;

  ros::NodeHandle node; 
  while(ros::ok())//Check if a Ctrl-C or other shutdown command has been recieved
  {
      //Send some data
      myTestBroadcaster.test();
      myTestBroadcaster.test_vector();
      std::this_thread::sleep_for(std::chrono::microseconds(1000));
  }

  return 0;
}