state_example.cpp

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#ifndef _atlascar_transforms_CPP_
#define _atlascar_transforms_CPP_

#include "state_example.h"

#include <string>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char **argv)
{
        ros::init(argc, argv, "atlascar_transforms"); // Initialize ROS coms
        ros::NodeHandle n; //The node handle
        p_node = &n;
        ros::Rate loop_rate(1); 

        tf::Vector3 V(-1.8583, 0, 0.9927);
        tf::Matrix3x3 M(0.9744, 0, 0.2250, 0, 1, 0, -0.225, 0, 0.9744);
        double r,p,y;
#if ROS_VERSION_MINIMUM(1, 8, 0) // if current ros version is >= 1.8.0
        M.getEulerYPR(y, p, r); //Changed by V. Santos, 15-Abr-2013,09:11
#else // Code for earlier versions (Electric, diamondback, ...)
        M.getRPY(r,p,y);
#endif
        ROS_INFO("Link position (to copy paste directly to urdf)");
        ROS_INFO("xyz=\"%f %f %f\" rpy=\"%f %f %f\"", V[0], V[1], V[2], r,p,y);

        //TRANSFORM FROM LASER_LEFT_BUMPER to Vehicle (A transform that brings a point in)
        tf::TransformBroadcaster tf_br1; 
        tf::Transform tr1 = tf::Transform(tf::Matrix3x3(0.8039, 0.5948, 0, -0.5948, 0.8039, 0, 0, 0, 1),
                        tf::Vector3(-0.08, 0.8350, 0));

        //TRANSFORM FROM LASER_RIGHT_BUMPER to Vehicle (A transform that brings a point in)
        tf::TransformBroadcaster tf_br2; 
        tf::Transform tr2 = tf::Transform(tf::Matrix3x3(-0.8192,0.5736,0,-0.5736,-0.8192,0,0,0,1),
                        tf::Vector3(-0.12, -0.89, -0.0950));

        //TRANSFORM FROM LASER_ROOF_ROTATING_BASE to Vehicle (A transform that brings a point in)
        tf::TransformBroadcaster tf_br3; 
        tf::Transform tr3 = tf::Transform(tf::Matrix3x3(0.9890,0.0129,0.1472,0.,0.9962,-0.0872,-0.1478,0.0862,0.9853),
                        tf::Vector3(-1.7803, 0, 1.1861));

        //TRANSFORM FROM XB3_right camera to Vehicle (A transform that brings a point in)
//      tf::TransformBroadcaster tf_br4; 
//      tf::Transform tr4 = tf::Transform(tf::Matrix3x3(0,-0.1392, 0.9903 , -1, 0, 0, 0, -0.9903, -0.1392),
//                      tf::Vector3(-1.8405, 0.2400, 1.1170));

        //TRANSFORM FROM PTU base to Vehicle (A transform that brings a point in)
//      tf::TransformBroadcaster tf_br5; 
//      tf::Transform tr5 = tf::Transform(tf::Matrix3x3(1,0,0,0,1,0,0,0,1),
//                      tf::Vector3(-1.877, -0.4920, 0.99));

        //TRANSFORM FROM Hokuyo laser to Vehicle (A transform that brings a point in)
//      tf::TransformBroadcaster tf_br6; 
//      tf::Transform tr6 = tf::Transform(tf::Matrix3x3(0.9744, 0, 0.2250, 0, 1, 0, -0.225, 0, 0.9744),
//                      tf::Vector3(-1.8583, 0, 0.9927));

        ros::Publisher joint_pub = n.advertise<sensor_msgs::JointState>("joint_states", 1);
        tf::TransformBroadcaster broadcaster;

        const double degree = M_PI/180;

        // robot state
        double tilt = 0, tinc = degree, swivel=0, angle=0, height=0, hinc=0.005;

        // message declarations
        geometry_msgs::TransformStamped odom_trans;
        sensor_msgs::JointState joint_state;
        odom_trans.header.frame_id = "odom";
        odom_trans.child_frame_id = "axis";

        while (ros::ok()) {
                //update joint_state
                joint_state.header.stamp = ros::Time::now();
                joint_state.name.resize(3);
                joint_state.position.resize(3);
                joint_state.name[0] ="swivel";
                joint_state.position[0] = swivel;
                joint_state.name[1] ="tilt";
                joint_state.position[1] = tilt;
                joint_state.name[2] ="periscope";
                joint_state.position[2] = height;


                // update transform
                // (moving in a circle with radius=2)
                odom_trans.header.stamp = ros::Time::now();
                odom_trans.transform.translation.x = cos(angle)*2;
                odom_trans.transform.translation.y = sin(angle)*2;
                odom_trans.transform.translation.z = .7;
                odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(angle+M_PI/2);

                //send the joint state and transform
                joint_pub.publish(joint_state);
                broadcaster.sendTransform(odom_trans);

                // Create new robot state
                tilt += tinc;
                if (tilt<-.5 || tilt>0) tinc *= -1;
                height += hinc;
                if (height>.2 || height<0) hinc *= -1;
                swivel += degree;
                angle += degree/4;

                // This will adjust as needed per iteration
                loop_rate.sleep();
        }


        //JUST ADD the sensors here, their 6dof position, and add a transform broadcaster at the while cycle

        while (n.ok()) //CYCLE, because transforms are static, will publish a transform once a second
        {

                tf_br1.sendTransform(tf::StampedTransform(tr1, ros::Time::now(), "/tf_atc/vehicle","/tf_atc/laser/left_bumper"));
                tf_br2.sendTransform(tf::StampedTransform(tr2, ros::Time::now(), "/tf_atc/vehicle","/tf_atc/laser/right_bumper"));
                tf_br3.sendTransform(tf::StampedTransform(tr3, ros::Time::now(), "/tf_atc/vehicle","/tf_atc/laser/roof_rotating_base"));
                //tf_br4.sendTransform(tf::StampedTransform(tr4, ros::Time::now(), "/tf_atc/laser/roof_rotating_base","/tf_atc/laser/roof_rotating"));

                ros::spinOnce();
                loop_rate.sleep();
        }

        return 0;
}
#endif