The class is responsible for processing pose to tf conversion.
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#include <PoseToTF2Node.hpp>

Inheritance diagram for pose_to_tf::PoseToTfNode:

Collaboration diagram for pose_to_tf::PoseToTfNode:

Public Member Functions
	PoseToTfNode (const rclcpp::NodeOptions &)
	PoseToTfNode constructor. More...

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &)

Private Attributes
carma_ros2_utils::SubPtr< geometry_msgs::msg::Pose >	pose_sub

carma_ros2_utils::SubPtr< geometry_msgs::msg::PoseStamped >	pose_stamped_sub

carma_ros2_utils::SubPtr< geometry_msgs::msg::PoseWithCovariance >	pose_with_cov_sub

carma_ros2_utils::SubPtr< geometry_msgs::msg::PoseWithCovarianceStamped >	pose_with_cov_stamped_sub

std::shared_ptr< PoseToTF2 >	pose_to_tf_worker_

PoseToTF2Config	config_

Detailed Description

The class is responsible for processing pose to tf conversion.

Definition at line 32 of file PoseToTF2Node.hpp.

Constructor & Destructor Documentation

◆ PoseToTfNode()

pose_to_tf::PoseToTfNode::PoseToTfNode ( const rclcpp::NodeOptions & options )

explicit

PoseToTfNode constructor.

Definition at line 24 of file PoseToTF2Node.cpp.

      : carma_ros2_utils::CarmaLifecycleNode(options)
  {
    // Create initial config
    config_ = PoseToTF2Config();
 
    // Declare parameters
    config_.child_frame = declare_parameter<std::string>("message_type", config_.child_frame);
    config_.default_parent_frame = declare_parameter<std::string>("target_frame", config_.default_parent_frame);
  }

References pose_to_tf::PoseToTF2Config::child_frame, config_, and pose_to_tf::PoseToTF2Config::default_parent_frame.

Member Function Documentation

◆ handle_on_configure()

carma_ros2_utils::CallbackReturn pose_to_tf::PoseToTfNode::handle_on_configure ( const rclcpp_lifecycle::State & )

Definition at line 35 of file PoseToTF2Node.cpp.

  {
    tf2_ros::TransformBroadcaster tf_broadcaster(shared_from_this());
    pose_to_tf::PoseToTF2 worker(config_, [&tf_broadcaster](auto msg){tf_broadcaster.sendTransform(msg);}, shared_from_this());
    pose_to_tf_worker_= std::make_shared<PoseToTF2>(worker);
 
    // Setup subscribers
    pose_sub = create_subscription<geometry_msgs::msg::Pose>("pose_to_tf", 50,
                                                              std::bind(&pose_to_tf::PoseToTF2::poseCallback, pose_to_tf_worker_.get(), std_ph::_1));
    pose_stamped_sub = create_subscription<geometry_msgs::msg::PoseStamped>("pose_stamped_to_tf", 50,
                                                              std::bind(&pose_to_tf::PoseToTF2::poseStampedCallback, pose_to_tf_worker_.get(), std_ph::_1));
    pose_with_cov_sub = create_subscription<geometry_msgs::msg::PoseWithCovariance>("pose_with_cov_to_tf", 50,
                                                              std::bind(&pose_to_tf::PoseToTF2::poseWithCovarianceCallback, pose_to_tf_worker_.get(), std_ph::_1));
    pose_with_cov_stamped_sub = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>("pose_with_cov_stamped_to_tf", 50,
                                                              std::bind(&pose_to_tf::PoseToTF2::poseWithCovarianceStampedCallback, pose_to_tf_worker_.get(), std_ph::_1));
  
    // Return success if everthing initialized successfully
    return CallbackReturn::SUCCESS;
  }