113 lines
4.0 KiB
C++
113 lines
4.0 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Wim Meeussen */
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#include "robot_state_publisher/robot_state_publisher.h"
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#include <kdl/frames_io.hpp>
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#include <tf_conversions/tf_kdl.h>
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using namespace std;
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using namespace ros;
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using namespace KDL;
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namespace robot_state_publisher{
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RobotStatePublisher::RobotStatePublisher(const Tree& tree)
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:tree_(tree)
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{
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// get tf prefix
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NodeHandle n_local("~");
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n_local.param("tf_prefix", tf_prefix_, string());
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// build tree solver
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solver_.reset(new TreeFkSolverPosFull_recursive(tree_));
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// advertise tf message
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NodeHandle n;
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tf_publisher_ = n.advertise<tf::tfMessage>("/tf", 5);
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// get the 'real' root segment of the tree, which is the first child of "root"
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SegmentMap::const_iterator root = tree.getRootSegment();
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if (root->second.children.empty())
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throw empty_tree_ex;
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root_ = (*root->second.children.begin())->first;
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}
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bool RobotStatePublisher::publishTransforms(const map<string, double>& joint_positions, const Time& time)
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{
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// calculate transforms form root to every segment in tree
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map<string, Frame> link_poses;
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solver_->JntToCart(joint_positions, link_poses);
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if (link_poses.size() < 2){
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ROS_ERROR("Could not compute link poses. The tree or the state is invalid.");
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return false;
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}
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tf_msg_.transforms.resize(link_poses.size()-1);
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// publish the transforms to tf, converting the transforms from "root" to the 'real' root
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geometry_msgs::TransformStamped trans;
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map<string, Frame>::const_iterator root = link_poses.find(root_);
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if (root == link_poses.end()){
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ROS_ERROR("Did not find root of tree");
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return false;
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}
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// remove root from published poses
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Frame offset = root->second.Inverse();
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unsigned int i = 0;
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// send transforms to tf
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for (map<string, Frame>::const_iterator f=link_poses.begin(); f!=link_poses.end(); f++){
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if (f != root){
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Frame frame = offset * f->second;
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tf::Transform tf_frame;
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tf::TransformKDLToTF(frame, tf_frame);
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trans.header.stamp = time;
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trans.header.frame_id = tf::remap(tf_prefix_, root->first);
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trans.child_frame_id = tf::remap(tf_prefix_, f->first);
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tf::transformTFToMsg(tf_frame, trans.transform);
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tf_msg_.transforms[i++] = trans;
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}
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}
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tf_publisher_.publish(tf_msg_);
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return true;
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}
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}
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