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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,87 @@ | ||
| #pragma once | ||
| #include "depthai-shared/common/CameraFeatures.hpp" | ||
| #include "depthai/device/CalibrationHandler.hpp" | ||
| #include "geometry_msgs/msg/quaternion.hpp" | ||
| #include "geometry_msgs/msg/transform_stamped.hpp" | ||
| #include "nlohmann/json.hpp" | ||
| #include "rclcpp/node.hpp" | ||
| #include "rclcpp/parameter_client.hpp" | ||
| #include "tf2_ros/static_transform_broadcaster.h" | ||
|
|
||
| namespace dai { | ||
| namespace ros { | ||
| class TFPublisher { | ||
| public: | ||
| explicit TFPublisher(rclcpp::Node* node, | ||
| const dai::CalibrationHandler& calHandler, | ||
| const std::vector<dai::CameraFeatures>& camFeatures, | ||
| const std::string& camName, | ||
| const std::string& camModel, | ||
| const std::string& baseFrame, | ||
| const std::string& parentFrame, | ||
| const std::string& camPosX, | ||
| const std::string& camPosY, | ||
| const std::string& camPosZ, | ||
| const std::string& camRoll, | ||
| const std::string& camPitch, | ||
| const std::string& camYaw, | ||
| const std::string& imuFromDescr, | ||
| const std::string& customURDFLocation, | ||
| const std::string& customXacroArgs); | ||
| /* | ||
| * @brief Obtain URDF description by running Xacro with provided arguments. | ||
| */ | ||
| std::string getURDF(); | ||
| geometry_msgs::msg::Quaternion quatFromRotM(nlohmann::json rotMatrix); | ||
| geometry_msgs::msg::Vector3 transFromExtr(nlohmann::json translation); | ||
|
|
||
| private: | ||
| /* | ||
| * @brief Converts model name to one of the available model families | ||
| */ | ||
| void convertModelName(); | ||
| /* | ||
| * @brief Prepare arguments for xacro command. If custom URDF location is not provided, check if model name is available in depthai_descriptions package. | ||
| */ | ||
| std::string prepareXacroArgs(); | ||
| /* | ||
| * @brief Get URDF description and set it as a parameter for robot_state_publisher | ||
| */ | ||
| void publishDescription(); | ||
| /* | ||
| * @brief Publish camera transforms ("standard" and optical) based on calibration data. | ||
| * Frame names are based on socket names and use following convention: [base_frame]_[socket_name]_camera_frame and | ||
| * [base_frame]_[socket_name]_camera_optical_frame | ||
| */ | ||
| void publishCamTransforms(nlohmann::json camData, rclcpp::Node* node); | ||
| /* | ||
| * @brief Publish IMU transform based on calibration data. | ||
| * Frame name is based on IMU name and uses following convention: [base_frame]_imu_frame. | ||
| * If IMU extrinsics are not set, warning is printed out and imu frame is published with zero translation and rotation. | ||
| */ | ||
| void publishImuTransform(nlohmann::json json, rclcpp::Node* node); | ||
| /* | ||
| * @brief Check if model STL file is available in depthai_descriptions package. | ||
| */ | ||
| bool modelNameAvailable(); | ||
| std::string getCamSocketName(int socketNum); | ||
| std::unique_ptr<rclcpp::AsyncParametersClient> _paramClient; | ||
| std::shared_ptr<tf2_ros::StaticTransformBroadcaster> _tfPub; | ||
| std::string _camName; | ||
| std::string _camModel; | ||
| std::string _baseFrame; | ||
| std::string _parentFrame; | ||
| std::string _camPosX; | ||
| std::string _camPosY; | ||
| std::string _camPosZ; | ||
| std::string _camRoll; | ||
| std::string _camPitch; | ||
| std::string _camYaw; | ||
| std::string _imuFromDescr; | ||
| std::string _customURDFLocation; | ||
| std::string _customXacroArgs; | ||
| std::vector<dai::CameraFeatures> _camFeatures; | ||
| rclcpp::Logger _logger; | ||
| }; | ||
| } // namespace ros | ||
| } // namespace dai |
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