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tf_echo.cpp
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tf_echo.cpp
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/*
* 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, Inc. 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.
*/
#include <cstdio>
#include "tf/transform_listener.h"
#include "ros/ros.h"
#define _USE_MATH_DEFINES
class echoListener
{
public:
tf::TransformListener tf;
//constructor with name
echoListener()
{
};
~echoListener()
{
};
private:
};
int main(int argc, char ** argv)
{
//Initialize ROS
ros::init(argc, argv, "tf_echo", ros::init_options::AnonymousName);
// Allow 2 or 3 command line arguments
if (argc < 3 || argc > 4)
{
printf("Usage: tf_echo source_frame target_frame [echo_rate]\n\n");
printf("This will echo the transform from the coordinate frame of the source_frame\n");
printf("to the coordinate frame of the target_frame. \n");
printf("Note: This is the transform to get data from target_frame into the source_frame.\n");
printf("Default echo rate is 1 if echo_rate is not given.\n");
return -1;
}
ros::NodeHandle nh;
double rate_hz;
if (argc == 4)
{
// read rate from command line
rate_hz = atof(argv[3]);
}
else
{
// read rate parameter
ros::NodeHandle p_nh("~");
p_nh.param("rate", rate_hz, 1.0);
}
if (rate_hz <= 0.0)
{
std::cerr << "Echo rate must be > 0.0\n";
return -1;
}
ros::Rate rate(rate_hz);
//Instantiate a local listener
echoListener echoListener;
std::string source_frameid = std::string(argv[1]);
std::string target_frameid = std::string(argv[2]);
// Wait for up to one second for the first transforms to become avaiable.
echoListener.tf.waitForTransform(source_frameid, target_frameid, ros::Time(), ros::Duration(1.0));
//Nothing needs to be done except wait for a quit
//The callbacks withing the listener class
//will take care of everything
while(nh.ok())
{
try
{
tf::StampedTransform echo_transform;
echoListener.tf.lookupTransform(source_frameid, target_frameid, ros::Time(), echo_transform);
std::cout.precision(3);
std::cout.setf(std::ios::fixed,std::ios::floatfield);
std::cout << "At time " << echo_transform.stamp_.toSec() << std::endl;
double yaw, pitch, roll;
echo_transform.getBasis().getRPY(roll, pitch, yaw);
tf::Quaternion q = echo_transform.getRotation();
tf::Vector3 v = echo_transform.getOrigin();
std::cout << "- Translation: [" << v.getX() << ", " << v.getY() << ", " << v.getZ() << "]" << std::endl;
std::cout << "- Rotation: in Quaternion [" << q.getX() << ", " << q.getY() << ", "
<< q.getZ() << ", " << q.getW() << "]" << std::endl
<< " in RPY (radian) [" << roll << ", " << pitch << ", " << yaw << "]" << std::endl
<< " in RPY (degree) [" << roll*180.0/M_PI << ", " << pitch*180.0/M_PI << ", " << yaw*180.0/M_PI << "]" << std::endl;
//print transform
}
catch(tf::TransformException& ex)
{
std::cout << "Failure at "<< ros::Time::now() << std::endl;
std::cout << "Exception thrown:" << ex.what()<< std::endl;
std::cout << "The current list of frames is:" <<std::endl;
std::cout << echoListener.tf.allFramesAsString()<<std::endl;
}
rate.sleep();
}
return 0;
};