int main(int argc, char ** argv)
{
//Initialize ROS
ros::init(argc, argv);
if(argc != 10)
{
printf("A command line utility for manually sending a transform.\n");
printf("It will periodicaly republish the given transform. \n");
printf("Usage: transform_sender x y z yaw pitch roll frame_id parent_id period(miliseconds) \n");
ROS_ERROR("transform_sender exited due to not having the right number of arguments");
return -1;
}
TransformSender tf_sender(atof(argv[1]), atof(argv[2]), atof(argv[3]),
atof(argv[4]), atof(argv[5]), atof(argv[6]),
ros::Time::now(),
argv[7], argv[8]);
while(tf_sender.ok())
{
tf_sender.send();
ROS_INFO("Sending transform from %s with parent %s\n", argv[7], argv[8]);
usleep(atoi(argv[9])*1000);
}
ros::fini();
return 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]);
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]);
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]);
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]),
ros::Time() + sleeper, //Future dating to allow slower sending w/o timeout
argv[7], argv[8]);
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]);
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;
}
};
