John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

tf/transform_broadcaster.h@0:04ac6be8229a, 2019-11-08 (annotated)

Committer:
Gary Servin
Date:
Fri Nov 08 14:38:09 2019 -0300
Revision:
0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 /*
Gary Servin 0:04ac6be8229a 2 * Software License Agreement (BSD License)
Gary Servin 0:04ac6be8229a 3 *
Gary Servin 0:04ac6be8229a 4 * Copyright (c) 2011, Willow Garage, Inc.
Gary Servin 0:04ac6be8229a 5 * All rights reserved.
Gary Servin 0:04ac6be8229a 6 *
Gary Servin 0:04ac6be8229a 7 * Redistribution and use in source and binary forms, with or without
Gary Servin 0:04ac6be8229a 8 * modification, are permitted provided that the following conditions
Gary Servin 0:04ac6be8229a 9 * are met:
Gary Servin 0:04ac6be8229a 10 *
Gary Servin 0:04ac6be8229a 11 * * Redistributions of source code must retain the above copyright
Gary Servin 0:04ac6be8229a 12 * notice, this list of conditions and the following disclaimer.
Gary Servin 0:04ac6be8229a 13 * * Redistributions in binary form must reproduce the above
Gary Servin 0:04ac6be8229a 14 * copyright notice, this list of conditions and the following
Gary Servin 0:04ac6be8229a 15 * disclaimer in the documentation and/or other materials provided
Gary Servin 0:04ac6be8229a 16 * with the distribution.
Gary Servin 0:04ac6be8229a 17 * * Neither the name of Willow Garage, Inc. nor the names of its
Gary Servin 0:04ac6be8229a 18 * contributors may be used to endorse or promote prducts derived
Gary Servin 0:04ac6be8229a 19 * from this software without specific prior written permission.
Gary Servin 0:04ac6be8229a 20 *
Gary Servin 0:04ac6be8229a 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
Gary Servin 0:04ac6be8229a 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
Gary Servin 0:04ac6be8229a 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Gary Servin 0:04ac6be8229a 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
Gary Servin 0:04ac6be8229a 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
Gary Servin 0:04ac6be8229a 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
Gary Servin 0:04ac6be8229a 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
Gary Servin 0:04ac6be8229a 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Gary Servin 0:04ac6be8229a 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
Gary Servin 0:04ac6be8229a 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
Gary Servin 0:04ac6be8229a 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Gary Servin 0:04ac6be8229a 32 * POSSIBILITY OF SUCH DAMAGE.
Gary Servin 0:04ac6be8229a 33 */
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 #ifndef ROS_TRANSFORM_BROADCASTER_H_
Gary Servin 0:04ac6be8229a 36 #define ROS_TRANSFORM_BROADCASTER_H_
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 #include "ros.h"
Gary Servin 0:04ac6be8229a 39 #include "tfMessage.h"
Gary Servin 0:04ac6be8229a 40
Gary Servin 0:04ac6be8229a 41 namespace tf
Gary Servin 0:04ac6be8229a 42 {
Gary Servin 0:04ac6be8229a 43
Gary Servin 0:04ac6be8229a 44 class TransformBroadcaster
Gary Servin 0:04ac6be8229a 45 {
Gary Servin 0:04ac6be8229a 46 public:
Gary Servin 0:04ac6be8229a 47 TransformBroadcaster() : publisher_("/tf", &internal_msg) {}
Gary Servin 0:04ac6be8229a 48
Gary Servin 0:04ac6be8229a 49 void init(ros::NodeHandle &nh)
Gary Servin 0:04ac6be8229a 50 {
Gary Servin 0:04ac6be8229a 51 nh.advertise(publisher_);
Gary Servin 0:04ac6be8229a 52 }
Gary Servin 0:04ac6be8229a 53
Gary Servin 0:04ac6be8229a 54 void sendTransform(geometry_msgs::TransformStamped &transform)
Gary Servin 0:04ac6be8229a 55 {
Gary Servin 0:04ac6be8229a 56 internal_msg.transforms_length = 1;
Gary Servin 0:04ac6be8229a 57 internal_msg.transforms = &transform;
Gary Servin 0:04ac6be8229a 58 publisher_.publish(&internal_msg);
Gary Servin 0:04ac6be8229a 59 }
Gary Servin 0:04ac6be8229a 60
Gary Servin 0:04ac6be8229a 61 private:
Gary Servin 0:04ac6be8229a 62 tf::tfMessage internal_msg;
Gary Servin 0:04ac6be8229a 63 ros::Publisher publisher_;
Gary Servin 0:04ac6be8229a 64 };
Gary Servin 0:04ac6be8229a 65
Gary Servin 0:04ac6be8229a 66 }
Gary Servin 0:04ac6be8229a 67
Gary Servin 0:04ac6be8229a 68 #endif
Gary Servin 0:04ac6be8229a 69