joint_state_listener.cpp

/*********************************************************************
* 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 */

#include <ros/ros.h>
#include <urdf/model.h>
#include <kdl/tree.hpp>
#include <kdl_parser/kdl_parser.hpp>

#include "robot_state_publisher/robot_state_publisher.h"
#include "robot_state_publisher/joint_state_listener.h"

using namespace std;
using namespace ros;
using namespace KDL;
using namespace robot_state_publisher;

JointStateListener::JointStateListener(const KDL::Tree& tree, const MimicMap& m, const urdf::Model& model)
  : state_publisher_(tree, model), mimic_(m)
{
  ros::NodeHandle n_tilde("~");
  ros::NodeHandle n;

  // set publish frequency
  double publish_freq;
  n_tilde.param("publish_frequency", publish_freq, 50.0);
  // set whether to use the /tf_static latched static transform broadcaster
  n_tilde.param("use_tf_static", use_tf_static_, true);
  // ignore_timestamp_ == true, joins_states messages are accepted, no matter their timestamp
  n_tilde.param("ignore_timestamp", ignore_timestamp_, false);
  // get the tf_prefix parameter from the closest namespace
  std::string tf_prefix_key;
  n_tilde.searchParam("tf_prefix", tf_prefix_key);
  n_tilde.param(tf_prefix_key, tf_prefix_, std::string(""));
  publish_interval_ = ros::Duration(1.0/max(publish_freq, 1.0));

  // Setting no delay to true prevents that some joint_states messages are bundled
  // and sent in pairs, reducing the period to which we receive new data to half
  // and causing some tf joints to go at 25Hz instead of 50Hz
  ros::TransportHints transport_hints;
  transport_hints.tcpNoDelay(true);
  // subscribe to joint state
  joint_state_sub_ = n.subscribe("joint_states", 1, &JointStateListener::callbackJointState, this, transport_hints);

  // trigger to publish fixed joints
  // if using static transform broadcaster, this will be a oneshot trigger and only run once
  timer_ = n_tilde.createTimer(publish_interval_, &JointStateListener::callbackFixedJoint, this, use_tf_static_);
}


JointStateListener::~JointStateListener()
{}


void JointStateListener::callbackFixedJoint(const ros::TimerEvent& e)
{
  (void)e;
  state_publisher_.publishFixedTransforms(tf_prefix_, use_tf_static_);
}

void JointStateListener::callbackJointState(const JointStateConstPtr& state)
{
  static ros::Time last_callback = ros::Time();
  if (last_callback.isValid())
  {
    ros::Duration elapsed = ros::Time::now() - last_callback;
    ROS_WARN_STREAM("Elapsed time is " << elapsed);
  }
  last_callback = ros::Time::now();

  if (state->name.size() != state->position.size()){
    if (state->position.empty()){
      const int throttleSeconds = 300;
      ROS_WARN_THROTTLE(throttleSeconds,
          "Robot state publisher ignored a JointState message about joint(s) "
          "\"%s\"(,...) whose position member was empty. This message will "
          "not reappear for %d seconds.", state->name[0].c_str(),
          throttleSeconds);
    } else {
      ROS_ERROR("Robot state publisher ignored an invalid JointState message");
    }
    return;
  }

  // check if we moved backwards in time (e.g. when playing a bag file)
  ros::Time now = ros::Time::now();
  if (last_callback_time_ > now) {
    // force re-publish of joint transforms
    ROS_WARN("Moved backwards in time (probably because ROS clock was reset), re-publishing joint transforms!");
    last_publish_time_.clear();
  }
  last_callback_time_ = now;

  // determine least recently published joint
  ros::Time last_published = now;
  for (unsigned int i=0; i<state->name.size(); i++) {
    ros::Time t = last_publish_time_[state->name[i]];
    last_published = (t < last_published) ? t : last_published;
  }
  // note: if a joint was seen for the first time,
  //       then last_published is zero.

  // check if we need to publish
  if (ignore_timestamp_ || state->header.stamp >= last_published + publish_interval_) {
    // get joint positions from state message
    map<string, double> joint_positions;
    for (unsigned int i=0; i<state->name.size(); i++) {
      joint_positions.insert(make_pair(state->name[i], state->position[i]));
    }

    for (MimicMap::iterator i = mimic_.begin(); i != mimic_.end(); i++) {
      if(joint_positions.find(i->second->joint_name) != joint_positions.end()) {
        double pos = joint_positions[i->second->joint_name] * i->second->multiplier + i->second->offset;
        joint_positions.insert(make_pair(i->first, pos));
      }
    }

    state_publisher_.publishTransforms(joint_positions, state->header.stamp, tf_prefix_);

    // store publish time in joint map
    for (unsigned int i = 0; i<state->name.size(); i++) {
      last_publish_time_[state->name[i]] = state->header.stamp;
    }
  }
}

// ----------------------------------
// ----- MAIN -----------------------
// ----------------------------------
int main(int argc, char** argv)
{
  // Initialize ros
  ros::init(argc, argv, "robot_state_publisher");
  NodeHandle node;

  ///////////////////////////////////////// begin deprecation warning
  std::string exe_name = argv[0];
  std::size_t slash = exe_name.find_last_of("/");
  if (slash != std::string::npos) {
    exe_name = exe_name.substr(slash + 1);
  }
  if (exe_name == "state_publisher") {
    ROS_WARN("The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead");
  }
  ///////////////////////////////////////// end deprecation warning

  // gets the location of the robot description on the parameter server
  urdf::Model model;
  if (!model.initParam("robot_description"))
    return -1;

  KDL::Tree tree;
  if (!kdl_parser::treeFromUrdfModel(model, tree)) {
    ROS_ERROR("Failed to extract kdl tree from xml robot description");
    return -1;
  }

  MimicMap mimic;

  for(std::map< std::string, urdf::JointSharedPtr >::iterator i = model.joints_.begin(); i != model.joints_.end(); i++) {
    if(i->second->mimic) {
      mimic.insert(make_pair(i->first, i->second->mimic));
    }
  }

  JointStateListener state_publisher(tree, mimic, model);
  ros::spin();

  return 0;
}