Added ability to use ROS params to static_transform_publisher

tf/src/static_transform_publisher.cpp

@@ -34,11 +34,10 @@ class TransformSender
 {
 public:
   ros::NodeHandle node_;
-  //constructor
   TransformSender(double x, double y, double z, double yaw, double pitch, double roll, ros::Time time, const std::string& frame_id, const std::string& child_frame_id)
   { 
     tf::Quaternion q;
-    q.setRPY(roll, pitch,yaw);
+    q.setRPY(roll, pitch, yaw);
     transform_ = tf::StampedTransform(tf::Transform(q, tf::Vector3(x,y,z)), time, frame_id, child_frame_id );
   };
   TransformSender(double x, double y, double z, double qx, double qy, double qz, double qw, ros::Time time, const std::string& frame_id, const std::string& child_frame_id) :
@@ -49,8 +48,6 @@ class TransformSender
   //A pointer to the rosTFServer class
   tf::TransformBroadcaster broadcaster;
 
-
-
   // A function to call to send data periodically
   void send (ros::Time time) {
     transform_.stamp_ = time;
@@ -62,71 +59,120 @@ class TransformSender
 
 };
 
+void help()
+{
+  printf("A command line utility for manually sending a transform.\n");
+  printf("It will periodicaly republish the given transform. \n");
+  printf("Usage: static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period(milliseconds) \n");
+  printf("OR \n");
+  printf("Usage: static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period(milliseconds) \n");
+  printf("As an alternative, you may supply these arguments as ROS parameters (names as above). \n");
+  printf("\nThis transform is the transform of the coordinate frame from frame_id into the coordinate frame \n");
+  printf("of the child_frame_id. \n");
+  ROS_ERROR("static_transform_publisher exited due to not having the right number of arguments (9, 10 or 0)");
+}
+
 int main(int argc, char ** argv)
 {
   //Initialize ROS
   ros::init(argc, argv,"static_transform_publisher", ros::init_options::AnonymousName);
 
-  if(argc == 11)
-  {
-    ros::Duration sleeper(atof(argv[10])/1000.0);
-
-    if (strcmp(argv[8], argv[9]) == 0)
-      ROS_FATAL("target_frame and source frame are the same (%s, %s) this cannot work", argv[8], argv[9]);
+  double period, x, y, z, rx, ry, rz, w;
+  std::string frame_id, child_frame_id;
+  bool is_quat;
+
+  if (argc == 11) {
+    x =  atof(argv[1]);
+    y =  atof(argv[2]);
+    z =  atof(argv[3]);
+    rx = atof(argv[4]);
+    ry = atof(argv[5]);
+    rz = atof(argv[6]);
+    w =  atof(argv[7]);
+    frame_id = argv[8];
+    child_frame_id = argv[9];
+    period = atof(argv[10]);
+    is_quat = true;
+  }
+  else if (argc == 10) {
+    x =  atof(argv[1]);
+    y =  atof(argv[2]);
+    z =  atof(argv[3]);
+    rx = atof(argv[4]);
+    ry = atof(argv[5]);
+    rz = atof(argv[6]);
+    frame_id = argv[7];
+    child_frame_id = argv[8];
+    period = atof(argv[9]);
+    is_quat = false;
+  }
+  else if (argc == 1) {
+    try {
+      ros::param::get("~period", period);
+      ros::param::get("~x",  x);
+      ros::param::get("~y",  y);
+      ros::param::get("~z",  z);
+
+      if (ros::param::has("~yaw")) {
+        ros::param::get("~yaw",   rz);
+        ros::param::get("~pitch", ry);
+        ros::param::get("~roll",  rx);
+        is_quat = false;
+      }
+      else {
+        ros::param::get("~qx", rz);
+        ros::param::get("~qy", ry);
+        ros::param::get("~qz", rx);
+        ros::param::get("~qw", w);
+        is_quat = true;
+      }
+
+      ros::param::get("~frame_id", frame_id);
+      ros::param::get("~child_frame_id", child_frame_id);
+    }
+    catch (ros::InvalidNameException& e) {
+      help();
+      return -1;
+    }
+  }
+  else {
+    help();
+    return -1;
+  }
 
-    TransformSender tf_sender(atof(argv[1]), atof(argv[2]), atof(argv[3]),
-                              atof(argv[4]), atof(argv[5]), atof(argv[6]), atof(argv[7]),
-                              ros::Time() + sleeper, //Future dating to allow slower sending w/o timeout
-                              argv[8], argv[9]);
+  if (frame_id == child_frame_id) {
+    ROS_FATAL("target_frame and source frame are the same (%s, %s), this cannot work", child_frame_id.c_str(), frame_id.c_str());
+  }
 
+  ros::Duration sleeper(period/1000.0);
 
+  if (is_quat) {
+    TransformSender tf_sender(x, y, z, rx, ry, rz, w,
+                              ros::Time() + sleeper, //Future dating to allow slower sending w/o timeout
+                              frame_id, child_frame_id);
 
     while(tf_sender.node_.ok())
     {
       tf_sender.send(ros::Time::now() + sleeper);
-      ROS_DEBUG("Sending transform from %s with parent %s\n", argv[8], argv[9]);
+      ROS_DEBUG("Sending transform from %s with parent %s\n", child_frame_id.c_str(), frame_id.c_str());
       sleeper.sleep();
     }
 
     return 0;
-  } 
-  else if (argc == 10)
-  {
-    ros::Duration sleeper(atof(argv[9])/1000.0);
-
-    if (strcmp(argv[7], argv[8]) == 0)
-      ROS_FATAL("target_frame and source frame are the same (%s, %s) this cannot work", argv[7], argv[8]);
-
-    TransformSender tf_sender(atof(argv[1]), atof(argv[2]), atof(argv[3]),
-                              atof(argv[4]), atof(argv[5]), atof(argv[6]),
+  }
+  else {
+    TransformSender tf_sender(x, y, z, rz, ry, rx,  // Note that yaw comes first here
                               ros::Time() + sleeper, //Future dating to allow slower sending w/o timeout
-                              argv[7], argv[8]);
-
-
+                              frame_id, child_frame_id);
 
     while(tf_sender.node_.ok())
     {
       tf_sender.send(ros::Time::now() + sleeper);
-      ROS_DEBUG("Sending transform from %s with parent %s\n", argv[7], argv[8]);
+      ROS_DEBUG("Sending transform from %s with parent %s\n", child_frame_id.c_str(), frame_id.c_str());
       sleeper.sleep();
     }
 
     return 0;
-
-  }
-  else
-  {
-    printf("A command line utility for manually sending a transform.\n");
-    printf("It will periodicaly republish the given transform. \n");
-    printf("Usage: static_transform_publisher x y z yaw pitch roll frame_id child_frame_id  period(milliseconds) \n");
-    printf("OR \n");
-    printf("Usage: static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period(milliseconds) \n");
-    printf("\nThis transform is the transform of the coordinate frame from frame_id into the coordinate frame \n");
-    printf("of the child_frame_id.  \n");
-    ROS_ERROR("static_transform_publisher exited due to not having the right number of arguments");
-    return -1;
   }
-
-
 }
 

tf/static_transform_publisher_params_test.launch

@@ -0,0 +1,14 @@
+<launch>
+
+    <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher_params_test"
+          args="0 1 2 0.653 0.270 0.653 0.270 map test 10"/>
+
+    <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher_params_test2">
+
+        <rosparam command="load" file="$(find tf)/static_transform_publisher_params_test.yaml"/>
+        <param name="frame_id" value="test"/>
+        <param name="child_frame_id" value="map_identity"/>
+        <param name="period" value="10"/>
+    </node>
+
+</launch>

tf/static_transform_publisher_params_test.yaml

@@ -0,0 +1,6 @@
+x: -2.122209
+y: -0.704436 
+z: 0
+roll: -2.357453
+pitch: -1.570796
+yaw: 0.00000