ellensohn/cps_rmp220_support
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3 changed files with 1 additions and 67 deletions
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9
CMakeLists.txt
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@ -10,12 +10,6 @@ project(cps_rmp220_support)
find_package(catkin REQUIRED COMPONENTS
urdf
xacro
roscpp
rospy
std_msgs
actionlib
#move_base_msgs
tf
)
################################################################################
@ -44,9 +38,6 @@ include_directories(
${catkin_INCLUDE_DIRS}
)
add_executable(odom_publisher nodes/odom_publisher.cpp)
target_link_libraries(odom_publisher ${catkin_LIBRARIES})
################################################################################
# Install
################################################################################

2
launch/rsp.launch
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@ -9,5 +9,5 @@
<!-- Start the joint state publisher node -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/>
<!-- <node pkg="tf" type="static_transform_publisher" name="odom_to_base_link" args="0 0 0 0 0 0 odom base_link 40" /> -->
<node pkg="tf" type="static_transform_publisher" name="odom_to_base_link" args="0 0 0 0 0 0 odom base_link 40" />
</launch>

57
nodes/odom_publisher.cpp
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@ -1,57 +0,0 @@
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/TransformStamped.h>
#include <signal.h>
volatile sig_atomic_t flag = 0;
void signal_handler(int signum) {
flag = 1;
}
void odomCallback(const nav_msgs::Odometry::ConstPtr& msg, tf::TransformBroadcaster& odom_broadcaster) {
// Create transform message
geometry_msgs::TransformStamped odom_trans;
odom_trans.header.stamp = msg->header.stamp;
odom_trans.header.frame_id = msg->header.frame_id;
odom_trans.child_frame_id = msg->child_frame_id;
// Copy translation and rotation
odom_trans.transform.translation.x = msg->pose.pose.position.x;
odom_trans.transform.translation.y = msg->pose.pose.position.y;
odom_trans.transform.translation.z = msg->pose.pose.position.z;
odom_trans.transform.rotation = msg->pose.pose.orientation;
// Publish the transform
odom_broadcaster.sendTransform(odom_trans);
}
int main(int argc, char** argv) {
ros::init(argc, argv, "tf_broadcaster");
ros::NodeHandle nh;
// Register the signal handler
signal(SIGINT, signal_handler);
// Create the transform broadcaster
tf::TransformBroadcaster odom_broadcaster;
// Subscribe to the /odom topic
ros::Subscriber odom_sub = nh.subscribe<nav_msgs::Odometry>(
"/odom", 10,
boost::bind(odomCallback, _1, boost::ref(odom_broadcaster)));
ROS_INFO("TF broadcaster node running...");
// Spin until the node is stopped
ros::Rate rate(10.0); // Adjust rate if necessary
while (ros::ok() && !flag) {
ros::spinOnce();
rate.sleep();
}
ROS_INFO("TF broadcaster node shutting down.");
ros::shutdown();
return 0;
}