mirror of
https://github.com/introlab/rtabmap_ros.git
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93 lines
2.9 KiB
C++
93 lines
2.9 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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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 are met:
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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 copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <ros/ros.h>
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#include <nav_msgs/Odometry.h>
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#include <tf2_ros/transform_broadcaster.h>
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#include <rtabmap_conversions/MsgConversion.h>
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class OdomMsgToTF
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{
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public:
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OdomMsgToTF() :
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frameId_(""),
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odomFrameId_("")
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{
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ros::NodeHandle pnh("~");
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pnh.param("frame_id", frameId_, frameId_);
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pnh.param("odom_frame_id", odomFrameId_, odomFrameId_);
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ros::NodeHandle nh;
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odomTopic_ = nh.subscribe("odom", 1, &OdomMsgToTF::odomReceivedCallback, this);
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}
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virtual ~OdomMsgToTF(){}
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void odomReceivedCallback(const nav_msgs::OdometryConstPtr & msg)
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{
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if(frameId_.empty())
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{
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frameId_ = msg->child_frame_id;
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}
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if(odomFrameId_.empty())
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{
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odomFrameId_ = msg->header.frame_id;
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}
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geometry_msgs::TransformStamped t;
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rtabmap::Transform pose = rtabmap_conversions::transformFromPoseMsg(msg->pose.pose);
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if(pose.isNull())
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{
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ROS_WARN("Odometry received is null! Cannot send tf...");
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}
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else
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{
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t.child_frame_id = frameId_;
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t.header.frame_id = odomFrameId_;
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t.header.stamp = msg->header.stamp;
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rtabmap_conversions::transformToGeometryMsg(pose, t.transform);
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tfBroadcaster_.sendTransform(t);
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}
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}
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private:
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std::string frameId_;
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std::string odomFrameId_;
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ros::Subscriber odomTopic_;
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tf2_ros::TransformBroadcaster tfBroadcaster_;
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};
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int main(int argc, char** argv)
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{
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ros::init(argc, argv, "odom_msg_to_tf");
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OdomMsgToTF odomToTf;
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ros::spin();
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return 0;
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}
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