turtle_tf2_broadcaster.cpp

Go to the documentation of this file.

#include <ros/ros.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>
#include <turtlesim/Pose.h>
 
std::string turtle_name;
 
 
 
void poseCallback(const turtlesim::PoseConstPtr& msg){
  static tf2_ros::TransformBroadcaster br;
        geometry_msgs::TransformStamped transformStamped;
  
        transformStamped.header.stamp = ros::Time::now();
        transformStamped.header.frame_id = "world";
        transformStamped.child_frame_id = turtle_name;
        transformStamped.transform.translation.x = msg->x;
        transformStamped.transform.translation.y = msg->y;
        transformStamped.transform.translation.z = 0.0;
        tf2::Quaternion q;
        q.setRPY(0, 0, msg->theta);
        transformStamped.transform.rotation.x = q.x();
        transformStamped.transform.rotation.y = q.y();
        transformStamped.transform.rotation.z = q.z();
        transformStamped.transform.rotation.w = q.w();
 
        br.sendTransform(transformStamped);
}
 
int main(int argc, char** argv){
  ros::init(argc, argv, "my_tf2_broadcaster");
 
  ros::NodeHandle private_node("~");
  if (! private_node.hasParam("turtle"))
  {
    if (argc != 2){ROS_ERROR("need turtle name as argument"); return -1;};
    turtle_name = argv[1];
  }
  else
  {
    private_node.getParam("turtle", turtle_name);
  }
    
  ros::NodeHandle node;
  ros::Subscriber sub = node.subscribe(turtle_name+"/pose", 10, &poseCallback);
 
  ros::spin();
  return 0;
};