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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 "tf/transform_broadcaster.h"
#include "ros/ros.h"
class testBroadcaster
{
public:
//constructor
testBroadcaster() : count(0), count1(0){};
//Clean up ros connections
~testBroadcaster() { }
//A pointer to the rosTFServer class
tf::TransformBroadcaster broadcaster;
// A function to call to send data periodically
void test () {
broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::createIdentityQuaternion(), tf::Vector3(1,2,3)), ros::Time().fromSec(1), "frame2", "frame1"));
if (count > 9000)
{
count = 0;
std::cerr<<"Counter 0 rolledover at 9000"<< std::endl;
}
else
count ++;
//std::cerr<<count<<std::endl;
}
// A function to call to send data periodically
void test_vector () {
std::vector<tf::StampedTransform> vec;
vec.push_back(tf::StampedTransform(tf::Transform(tf::createIdentityQuaternion(), tf::Vector3(1,2,3)), ros::Time().fromSec(1), "vframe2", "vframe1"));
vec.push_back(tf::StampedTransform(tf::Transform(tf::createIdentityQuaternion(), tf::Vector3(1,2,3)), ros::Time().fromSec(1), "vframe1", "vframe0"));
broadcaster.sendTransform(vec);
if (count1 > 9000)
{
count1 = 0;
std::cerr<<"Counter 1 rolledover at 9000"<< std::endl;
}
else
count1 ++;
//std::cerr<<count1<<std::endl;
}
private:
int count;
int count1;
};
int main(int argc, char ** argv)
{
//Initialize ROS
ros::init(argc, argv, "testBroadcaster", ros::init_options::AnonymousName);
//Construct/initialize the server
testBroadcaster myTestBroadcaster;
ros::NodeHandle node;
while(ros::ok())//Check if a Ctrl-C or other shutdown command has been recieved
{
//Send some data
myTestBroadcaster.test();
myTestBroadcaster.test_vector();
usleep(1000);
}
return 0;
}
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