robot_state_publisher.h

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#ifndef DYNAMIC_ROBOT_STATE_PUBLISHER_ROBOT_STATE_PUBLISHER_H
#define DYNAMIC_ROBOT_STATE_PUBLISHER_ROBOT_STATE_PUBLISHER_H
 
#include <robot_state_publisher/robot_state_publisher.h>
 
namespace robot_state_publisher
{
class DynamicRobotStatePublisher
#if ROS_VERSION_MINIMUM(1, 15, 0)
        : public robot_state_publisher::RobotStatePublisher
#else
        // In Melodic, we cannot subclass RobotStatePublisher as there is no way to plug it in JointStateListener.
#endif
{
public:
  const std::string DELETED_STATIC_TFS_FRAME = "__deleted_static_tfs__";
 
#if ROS_VERSION_MINIMUM(1, 15, 0)
 
        explicit DynamicRobotStatePublisher(const KDL::Tree& tree, const urdf::Model& model = urdf::Model());
#else
 
  explicit DynamicRobotStatePublisher(RobotStatePublisher *publisher);
#endif
 
  virtual void updateTree(const KDL::Tree& tree);
 
  virtual size_t getNumMovingJoints() const;
 
  virtual size_t getNumFixedJoints() const;
 
protected:
 
        std::map<std::string, SegmentPair>& getSegments();
        std::map<std::string, SegmentPair>& getFixedSegments();
 
        const std::map<std::string, SegmentPair>& getSegments() const;
        const std::map<std::string, SegmentPair>& getFixedSegments() const;
 
        tf2_ros::StaticTransformBroadcaster& getStaticTfBroadcaster();
 
#if !ROS_VERSION_MINIMUM(1, 15, 0)
        virtual void addChildren(const KDL::SegmentMap::const_iterator segment);
        
  RobotStatePublisher *publisher;
#endif
};
}
 
#endif //DYNAMIC_ROBOT_STATE_PUBLISHER_ROBOT_STATE_PUBLISHER_H