About static_transform_publisher.cpp

asked 2016-06-02 02:02:44 -0600

ligang gravatar image

in static_transform_publisher.cpp

#include <cstdio>
#include "tf/transform_broadcaster.h"

class TransformSender
{
public:
  ros::NodeHandle node_;
  //constructor
  TransformSender(double x, double y, double z, double yaw, double pitch, double roll, ros::Time time, const std::string& frame_id, const std::string& child_frame_id)
  { 
    tf::Quaternion q;
    q.setRPY(roll, pitch,yaw);
    transform_ = tf::StampedTransform(tf::Transform(q, tf::Vector3(x,y,z)), time, frame_id, child_frame_id );
  };

AAAAAAAAA

  ***`***TransformSender(double x, double y, double z, double qx, double qy, double qz, double qw, ros::Time time, const std::string& frame_id, const std::string& child_frame_id) :***`***

    transform_(tf::Transform(tf::Quaternion(qx,qy,qz,qw), tf::Vector3(x,y,z)), time, frame_id, child_frame_id){};
  //Clean up ros connections
  ~TransformSender() { }

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



  // A function to call to send data periodically
  void send (ros::Time time) {
    transform_.stamp_ = time;
    broadcaster.sendTransform(transform_);
  };

private:
  tf::StampedTransform transform_;

};

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

  if(argc == 11)
  {
    ros::Duration sleeper(atof(argv[10])/1000.0);

    if (strcmp(argv[8], argv[9]) == 0)
      ROS_FATAL("target_frame and source frame are the same (%s, %s) this cannot work", argv[8], argv[9]);

    TransformSender tf_sender(atof(argv[1]), atof(argv[2]), atof(argv[3]),
                              atof(argv[4]), atof(argv[5]), atof(argv[6]), atof(argv[7]),
                              ros::Time() + sleeper, //Future dating to allow slower sending w/o timeout
                              argv[8], argv[9]);



    while(tf_sender.node_.ok())
    {
      tf_sender.send(ros::Time::now() + sleeper);
      ROS_DEBUG("Sending transform from %s with parent %s\n", argv[8], argv[9]);
      sleeper.sleep();
    }

    return 0;
  } 
  else if (argc == 10)
  {
    ros::Duration sleeper(atof(argv[9])/1000.0);

    if (strcmp(argv[7], argv[8]) == 0)
      ROS_FATAL("target_frame and source frame are the same (%s, %s) this cannot work", argv[7], argv[8]);

    TransformSender tf_sender(atof(argv[1]), atof(argv[2]), atof(argv[3]),
                              atof(argv[4]), atof(argv[5]), atof(argv[6]),
                              ros::Time() + sleeper, //Future dating to allow slower sending w/o timeout
                              argv[7], argv[8]);



    while(tf_sender.node_.ok())
    {
      tf_sender.send(ros::Time::now() + sleeper);
      ROS_DEBUG("Sending transform from %s with parent %s\n", argv[7], argv[8]);
      sleeper.sleep();
    }

    return 0;

  }
  else
  {
    printf("A command line utility for manually sending a transform.\n");
    printf("It will periodicaly republish the given transform. \n");
    printf("Usage: static_transform_publisher x y z yaw pitch roll frame_id child_frame_id  period(milliseconds) \n");
    printf("OR \n");
    printf("Usage: static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period(milliseconds) \n");
    printf("\nThis transform is the transform of the coordinate frame from frame_id into the coordinate frame \n");
    printf("of the child_frame_id.  \n");
    ROS_ERROR("static_transform_publisher exited due to not having the right number of arguments");
    return -1;
  }


};


<?xml version="1.0"?>

<launch>
  <param name="pub_map_odom_transform" value="true"/> 
  <param name="map_frame" value="map"/> 
  <param name="base_frame" value="base_frame"/> 
  <param name="odom_frame" value="odom"/>

BBBBBBBB

  <node pkg="tf" type="static_transform_publisher" name="map_2_odom" args="0 0 0 0 0 0 /map /odom 100"/>

  <node pkg="tf" type="static_transform_publisher" name="odom_2_base_footprint" args="0 ...
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