Primary logic class for the PoseToTF2 node. More...

#include <PoseToTF2.hpp>

Collaboration diagram for pose_to_tf::PoseToTF2:

Public Types
using	TransformPublisher = std::function< void(const geometry_msgs::msg::TransformStamped &)>

Public Member Functions
	PoseToTF2 (PoseToTF2Config config, TransformPublisher transform_pub, std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode > node)
	Constructor. More...

void	poseStampedCallback (geometry_msgs::msg::PoseStamped::UniquePtr msg)
	Callback for new pose stamped messages. More...

void	poseWithCovarianceStampedCallback (geometry_msgs::msg::PoseWithCovarianceStamped::UniquePtr msg)
	Callback for new pose stamped messages. More...

void	poseCallback (geometry_msgs::msg::Pose::UniquePtr msg)
	Callback for new pose stamped messages. More...

void	poseWithCovarianceCallback (geometry_msgs::msg::PoseWithCovariance::UniquePtr msg)
	Callback for new pose with covariance messages. More...

Private Attributes
std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode >	node_

PoseToTF2Config	config_

TransformPublisher	transform_pub_

Detailed Description

Primary logic class for the PoseToTF2 node.

Definition at line 33 of file PoseToTF2.hpp.

Member Typedef Documentation

◆ TransformPublisher

using pose_to_tf::PoseToTF2::TransformPublisher = std::function<void(const geometry_msgs::msg::TransformStamped&)>

Definition at line 36 of file PoseToTF2.hpp.

Constructor & Destructor Documentation

◆ PoseToTF2()

pose_to_tf::PoseToTF2::PoseToTF2	(	PoseToTF2Config	config,
		TransformPublisher	transform_pub,
		std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode >	node
	)

Constructor.

Parameters

transform_pub A callback to trigger transform broadcast

Definition at line 60 of file PoseToTF2.cpp.

  : config_(config), transform_pub_(transform_pub), node_(node)  
{
}

Member Function Documentation

◆ poseCallback()

void pose_to_tf::PoseToTF2::poseCallback ( geometry_msgs::msg::Pose::UniquePtr msg )

Callback for new pose stamped messages.

Parameters

msg	The pose message to forward

Definition at line 81 of file PoseToTF2.cpp.

{
  geometry_msgs::msg::TransformStamped out_tf;
  tf2::convert(*msg, out_tf.transform);
  out_tf.header.stamp = node_->now();
  out_tf.header.frame_id = config_.default_parent_frame;
  out_tf.child_frame_id = config_.child_frame;
  transform_pub_(out_tf);
}

References pose_to_tf::PoseToTF2Config::child_frame, config_, tf2::anonymous_namespace{PoseToTF2.cpp}::convert(), pose_to_tf::PoseToTF2Config::default_parent_frame, node_, and transform_pub_.

Referenced by pose_to_tf::PoseToTfNode::handle_on_configure().

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◆ poseStampedCallback()

void pose_to_tf::PoseToTF2::poseStampedCallback ( geometry_msgs::msg::PoseStamped::UniquePtr msg )

Callback for new pose stamped messages.

Parameters

msg	The pose message to forward

Definition at line 65 of file PoseToTF2.cpp.

{
  geometry_msgs::msg::TransformStamped out_tf;
  tf2::convert(*msg, out_tf);
  out_tf.child_frame_id = config_.child_frame;
  transform_pub_(out_tf);
}

References pose_to_tf::PoseToTF2Config::child_frame, config_, tf2::anonymous_namespace{PoseToTF2.cpp}::convert(), and transform_pub_.

Referenced by pose_to_tf::PoseToTfNode::handle_on_configure().

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◆ poseWithCovarianceCallback()

void pose_to_tf::PoseToTF2::poseWithCovarianceCallback ( geometry_msgs::msg::PoseWithCovariance::UniquePtr msg )

Callback for new pose with covariance messages.

Parameters

msg	The pose message to forward

Definition at line 91 of file PoseToTF2.cpp.

{
  geometry_msgs::msg::TransformStamped out_tf;
  tf2::convert(*msg, out_tf.transform);
  out_tf.header.stamp = node_->now();
  out_tf.header.frame_id = config_.default_parent_frame;
  out_tf.child_frame_id = config_.child_frame;
  transform_pub_(out_tf);
}

References pose_to_tf::PoseToTF2Config::child_frame, config_, tf2::anonymous_namespace{PoseToTF2.cpp}::convert(), pose_to_tf::PoseToTF2Config::default_parent_frame, node_, and transform_pub_.

Referenced by pose_to_tf::PoseToTfNode::handle_on_configure().

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◆ poseWithCovarianceStampedCallback()

void pose_to_tf::PoseToTF2::poseWithCovarianceStampedCallback ( geometry_msgs::msg::PoseWithCovarianceStamped::UniquePtr msg )

Callback for new pose stamped messages.

Parameters

msg	The pose message to forward

Definition at line 73 of file PoseToTF2.cpp.

{
  geometry_msgs::msg::TransformStamped out_tf;
  tf2::convert(*msg, out_tf);
  out_tf.child_frame_id = config_.child_frame;
  transform_pub_(out_tf);
}