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transform_listener.cpp
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transform_listener.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.
*/
/** \author Tully Foote */
#include "tf2_ros/transform_listener.h"
using namespace tf2_ros;
TransformListener::TransformListener(tf2::BufferCore& buffer, bool spin_thread):
dedicated_listener_thread_(NULL), buffer_(buffer), using_dedicated_thread_(false)
{
if (spin_thread)
initWithThread();
else
init();
}
TransformListener::TransformListener(tf2::BufferCore& buffer, const ros::NodeHandle& nh, bool spin_thread)
: dedicated_listener_thread_(NULL)
, node_(nh)
, buffer_(buffer)
, using_dedicated_thread_(false)
{
if (spin_thread)
initWithThread();
else
init();
}
TransformListener::~TransformListener()
{
using_dedicated_thread_ = false;
if (dedicated_listener_thread_)
{
dedicated_listener_thread_->join();
delete dedicated_listener_thread_;
}
}
void TransformListener::init()
{
message_subscriber_tf_ = node_.subscribe<tf2_msgs::TFMessage>("/tf", 100, boost::bind(&TransformListener::subscription_callback, this, _1)); ///\todo magic number
message_subscriber_tf_static_ = node_.subscribe<tf2_msgs::TFMessage>("/tf_static", 100, boost::bind(&TransformListener::static_subscription_callback, this, _1)); ///\todo magic number
}
void TransformListener::initWithThread()
{
using_dedicated_thread_ = true;
ros::SubscribeOptions ops_tf = ros::SubscribeOptions::create<tf2_msgs::TFMessage>("/tf", 100, boost::bind(&TransformListener::subscription_callback, this, _1), ros::VoidPtr(), &tf_message_callback_queue_); ///\todo magic number
message_subscriber_tf_ = node_.subscribe(ops_tf);
ros::SubscribeOptions ops_tf_static = ros::SubscribeOptions::create<tf2_msgs::TFMessage>("/tf_static", 100, boost::bind(&TransformListener::static_subscription_callback, this, _1), ros::VoidPtr(), &tf_message_callback_queue_); ///\todo magic number
message_subscriber_tf_static_ = node_.subscribe(ops_tf_static);
dedicated_listener_thread_ = new boost::thread(boost::bind(&TransformListener::dedicatedListenerThread, this));
//Tell the buffer we have a dedicated thread to enable timeouts
buffer_.setUsingDedicatedThread(true);
}
void TransformListener::subscription_callback(const ros::MessageEvent<tf2_msgs::TFMessage const>& msg_evt)
{
subscription_callback_impl(msg_evt, false);
}
void TransformListener::static_subscription_callback(const ros::MessageEvent<tf2_msgs::TFMessage const>& msg_evt)
{
subscription_callback_impl(msg_evt, true);
}
void TransformListener::subscription_callback_impl(const ros::MessageEvent<tf2_msgs::TFMessage const>& msg_evt, bool is_static)
{
ros::Time now = ros::Time::now();
if(now < last_update_){
ROS_WARN_STREAM("Detected jump back in time of " << (last_update_ - now).toSec() << "s. Clearing TF buffer.");
buffer_.clear();
}
last_update_ = now;
const tf2_msgs::TFMessage& msg_in = *(msg_evt.getConstMessage());
std::string authority = msg_evt.getPublisherName(); // lookup the authority
for (unsigned int i = 0; i < msg_in.transforms.size(); i++)
{
try
{
buffer_.setTransform(msg_in.transforms[i], authority, is_static);
}
catch (tf2::TransformException& ex)
{
///\todo Use error reporting
std::string temp = ex.what();
ROS_ERROR("Failure to set recieved transform from %s to %s with error: %s\n", msg_in.transforms[i].child_frame_id.c_str(), msg_in.transforms[i].header.frame_id.c_str(), temp.c_str());
}
}
};