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robot_state_publisher.h
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robot_state_publisher.h
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Wim Meeussen */
#ifndef ROBOT_STATE_PUBLISHER__ROBOT_STATE_PUBLISHER_H_
#define ROBOT_STATE_PUBLISHER__ROBOT_STATE_PUBLISHER_H_
#include <map>
#include <string>
#include "kdl/frames.hpp"
#include "kdl/segment.hpp"
#include "kdl/tree.hpp"
#include "tf2_ros/static_transform_broadcaster.h"
#include "tf2_ros/transform_broadcaster.h"
#include "urdf/model.h"
#include "std_msgs/msg/string.hpp"
#include "rclcpp/rclcpp.hpp"
namespace robot_state_publisher
{
class SegmentPair
{
public:
SegmentPair(const KDL::Segment & p_segment, const std::string & p_root, const std::string & p_tip)
: segment(p_segment), root(p_root), tip(p_tip) {}
KDL::Segment segment;
std::string root, tip;
};
class RobotStatePublisher
{
public:
/** Constructor
* \param tree The kinematic model of a robot, represented by a KDL Tree
*/
RobotStatePublisher(
rclcpp::Node::SharedPtr node_handle, const KDL::Tree & tree,
const urdf::Model & model, const std::string & model_xml);
/// Destructor
virtual ~RobotStatePublisher() {}
/** Publish transforms to tf
* \param joint_positions A map of joint names and joint positions.
* \param time The time at which the joint positions were recorded
*/
virtual void publishTransforms(
const std::map<std::string, double> & joint_positions,
const builtin_interfaces::msg::Time & time,
const std::string & tf_prefix);
virtual void publishFixedTransforms(const std::string & tf_prefix, bool use_tf_static = false);
protected:
virtual void addChildren(const KDL::SegmentMap::const_iterator segment);
std::map<std::string, SegmentPair> segments_, segments_fixed_;
const urdf::Model & model_;
tf2_ros::TransformBroadcaster tf_broadcaster_;
tf2_ros::StaticTransformBroadcaster static_tf_broadcaster_;
std_msgs::msg::String model_xml_;
bool description_published_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr description_pub_;
};
} // namespace robot_state_publisher
#endif // ROBOT_STATE_PUBLISHER__ROBOT_STATE_PUBLISHER_H_