Description

This handler is responsible for publishing transform (tf) information.

For more information on the use of tf in ROS, see the tf2_ros documentation.

#include <ChROSTFHandler.h>

Inheritance diagram for chrono::ros::ChROSTFHandler:

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Collaboration diagram for chrono::ros::ChROSTFHandler:

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Public Member Functions
	ChROSTFHandler (double update_rate)
	Constructor.

virtual bool	Initialize (std::shared_ptr< ChROSInterface > interface) override
	Initializes the handler. More...

void	AddTransform (std::shared_ptr< chrono::ChBody > parent, const std::string &parent_frame_id, std::shared_ptr< chrono::ChBody > child, const std::string &child_frame_id)
	Add a transform to be published. More...

void	AddTransform (std::shared_ptr< chrono::ChBody > parent, const std::string &parent_frame_id, chrono::ChFrame< double > child_frame, const std::string &child_frame_id)
	Add a transform to be published. More...

Public Member Functions inherited from chrono::ros::ChROSHandler
virtual	~ChROSHandler ()=default
	Destructor for the ChROSHandler.

virtual void	Update (double time, double step) final
	Updates the internal clock and checks if a tick should occur. More...

const double	GetUpdateRate () const
	Get the period which this handler operates at.

const uint64_t	GetTickCount () const
	Get the number of times Tick() has been called.

Protected Member Functions
virtual void	Tick (double time) override
	Update the transforms and publish them. More...

Protected Member Functions inherited from chrono::ros::ChROSHandler
	ChROSHandler (double update_rate)
	Constructor for the ChROSHandler. More...

Member Function Documentation

◆ AddTransform() [1/2]

void chrono::ros::ChROSTFHandler::AddTransform	(	std::shared_ptr< chrono::ChBody >	parent,
		const std::string &	parent_frame_id,
		chrono::ChFrame< double >	child_frame,
		const std::string &	child_frame_id
	)

Add a transform to be published.

This version of the AddTransform function will publish a static transform between the parent and child frame. This is useful for two bodies that are connected by a link.

Parameters

parent	The parent body
parent_frame	The parent frame id.
child_frame	The child frame
child_frame_id	The child frame id

◆ AddTransform() [2/2]

void chrono::ros::ChROSTFHandler::AddTransform	(	std::shared_ptr< chrono::ChBody >	parent,
		const std::string &	parent_frame_id,
		std::shared_ptr< chrono::ChBody >	child,
		const std::string &	child_frame_id
	)

Add a transform to be published.

This version of the AddTransform function will use two bodies directly and calculate the transform at each tick. This is useful for two bodies that are not connected by a link. For each iteration of this method, when the frame id for the parent and/or child is not passed, it defaults to the name of the body.

◆ Initialize()

bool chrono::ros::ChROSTFHandler::Initialize ( std::shared_ptr< ChROSInterface > interface )

overridevirtual

Initializes the handler.

This will create the tf broadcaster. The topic name is assigned to /tf internally within the broadcaster and this can not be changed.

Implements chrono::ros::ChROSHandler.

◆ Tick()

void chrono::ros::ChROSTFHandler::Tick ( double time )

overrideprotectedvirtual

Update the transforms and publish them.