transform_cloud_nodelet.cpp

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#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_ros/transforms.h>
#include <pcl_conversions/pcl_conversions.h>

#define PFLN printf("Line=%d\n", __LINE__);

using namespace std;

// Declare a publisher

ros::Publisher pub;
string frame_id;
tf::TransformListener *listener_center_bumper_ptr;


void topic_callback(const sensor_msgs::PointCloud2ConstPtr& msg)
{
  static int counter=0;  counter++;
  ROS_INFO("Message received n= %d",counter);
  
  // Pcl clouds
  pcl::PointCloud<pcl::PointXYZRGB> cloud_in;
  pcl::PointCloud<pcl::PointXYZRGB> cloud_trans;
  
  //STEP 0 Convert sensor_msgs to pcl
//   pcl::fromROSMsg(*msg,cloud_in);
  
  pcl::PCLPointCloud2 pcl_pc;
  pcl_conversions::toPCL(*msg, pcl_pc);
  pcl::fromPCLPointCloud2(pcl_pc, cloud_in);
  
  //STEP 1 Convert xb3 message to center_bumper frame (i think it is better this way)
  tf::StampedTransform transform;
  try
  {
    listener_center_bumper_ptr->lookupTransform(frame_id, msg->header.frame_id, ros::Time(0), transform);
  }
  catch (tf::TransformException ex)
  {
    ROS_ERROR("%s",ex.what());
  }

  // Transform point cloud
  pcl_ros::transformPointCloud (cloud_in,cloud_trans,transform);  
  cloud_trans.header.frame_id=frame_id;  // Must set new frame manually
  sensor_msgs::PointCloud2 msg_pub;  
  
  pcl::toROSMsg(cloud_trans, msg_pub);
  pub.publish(msg_pub);
}


int main(int argc, char **argv)
{
  ROS_INFO("Started transform cloud nodelet");
  ros::init(argc,argv,"transform_cloud_nodelet");

  ros::NodeHandle n;
  
  tf::TransformListener listener_center_bumper;   // atc/vehicle/center_bumper
  listener_center_bumper_ptr=&listener_center_bumper;
  
  // Getting point cloud from launch file
  string pointcloud_subscribed;
  if (!n.hasParam("pointcloud_to_transform"))
  {
    ROS_ERROR("Must set properly a input pointcloud");
    return -1;
  }
  else
  n.getParam("pointcloud_to_transform", pointcloud_subscribed);
  
  // Getting reference frame to transform
  if (!n.hasParam("frame_id"))
  {
    ROS_ERROR("Must set properly a frame_id to transform");
    return -1;
  }
  else
  n.getParam("frame_id", frame_id);
  
  // Getting reference frame to transform
  string pointcloud_transformed;
  if (!n.hasParam("pointcloud_transformed"))
  {
    ROS_ERROR("Must set properly a topic to publish the transformed cloud");
    return -1;
  }
  else
  n.getParam("pointcloud_transformed", pointcloud_transformed);

  ros::Subscriber sub = n.subscribe(pointcloud_subscribed, 1, topic_callback);
  pub=n.advertise<sensor_msgs::PointCloud2>(pointcloud_transformed,1000);
  
  ros::spin();
  return 1;


}