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Added tf2_ros dependency

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This commit is contained in:
Mathieu Labbe
2015-05-14 00:42:21 -04:00
parent 2b46da2773
commit 550655c887
12 changed files with 104 additions and 75 deletions
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src/OdomMsgToTFNode.cpp
+8 -6
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@@ -27,8 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <tf/tf.h>
#include <tf/transform_broadcaster.h>
#include <tf2_ros/transform_broadcaster.h>
#include <rtabmap_ros/MsgConversion.h>
class OdomMsgToTF
@@ -59,7 +58,7 @@ public:
{
odomFrameId_ = msg->header.frame_id;
}
tf::StampedTransform t;
geometry_msgs::TransformStamped t;
rtabmap::Transform pose = rtabmap_ros::transformFromPoseMsg(msg->pose.pose);
if(pose.isNull())
{
@@ -67,8 +66,11 @@ public:
}
else
{
rtabmap_ros::transformToTF(pose, t);
tfBroadcaster_.sendTransform(tf::StampedTransform (t, msg->header.stamp, odomFrameId_, frameId_));
t.child_frame_id = frameId_;
t.header.frame_id = odomFrameId_;
t.header.stamp = msg->header.stamp;
rtabmap_ros::transformToGeometryMsg(pose, t.transform);
tfBroadcaster_.sendTransform(t);
}
}
@@ -77,7 +79,7 @@ private:
std::string odomFrameId_;
ros::Subscriber odomTopic_;
tf::TransformBroadcaster tfBroadcaster_;
tf2_ros::TransformBroadcaster tfBroadcaster_;
};