git commit -m "first commit for v2"

Devices/Packages/msle_tf_base_link/src/mlse_tf_base_link_broadcaster.cpp

@@ -0,0 +1,66 @@
+#include <ros/ros.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <sick_line_guidance/MLS_Measurement.h>
+#include <std_msgs/UInt8MultiArray.h>
+
+template<class T> static T readMember(XmlRpc::XmlRpcValue & value, const std::string & member, const T & defaultvalue)
+{
+  if(value.hasMember(member))
+    return value[member];
+  return defaultvalue;
+}
+
+
+std_msgs::UInt8MultiArray measurement_array;
+
+void msleCallback(const sick_line_guidance::MLS_MeasurementConstPtr& msg)
+{
+  if(((msg->lcp & 0x02) >> 1) == 0x01)
+  {
+    static tf2_ros::TransformBroadcaster br;
+    geometry_msgs::TransformStamped transformStamped;
+    int sign = msg->header.frame_id[0] == 'f' ? 1 : -1;
+
+    transformStamped.header.stamp = ros::Time::now();
+    transformStamped.header.frame_id = "base_link";
+    transformStamped.child_frame_id = msg->header.frame_id;
+    transformStamped.transform.translation.x = sign * 0.476;
+    transformStamped.transform.translation.y = msg->position[1];
+    transformStamped.transform.translation.z = 0.0;
+    tf2::Quaternion q;
+    q.setRPY(0, 0, 0);
+    transformStamped.transform.rotation.x = q.x();
+    transformStamped.transform.rotation.y = q.y();
+    transformStamped.transform.rotation.z = q.z();
+    transformStamped.transform.rotation.w = q.w();
+    br.sendTransform(transformStamped);
+  }
+}
+
+int main(int argc, char **argv)
+{
+  /* Khoi tao Node */
+  ros::init(argc, argv, "mlse_base_link_broadcaster");
+  ros::NodeHandlePtr nh = boost::make_shared<ros::NodeHandle>();
+  std::string node_name = ros::this_node::getName();
+  ROS_INFO("%s.cpp-node_name: %s", node_name.c_str(), node_name.c_str());
+  XmlRpc::XmlRpcValue nodes;
+  if(!nh->getParam(node_name + "/nodes", nodes) || nodes.size() < 1)
+  {
+    ROS_ERROR("%s: no driver found in yaml-file, please check configuration. Aborting...", node_name.c_str());
+    return 1;
+  }
+  std::vector<ros::Subscriber> mlse_subscribers;
+  for(XmlRpc::XmlRpcValue::iterator object_iter = nodes.begin(); object_iter != nodes.end(); ++object_iter)
+  {
+    std::string topic_name    = readMember<std::string>(object_iter->second, "sick_topic", "");
+    int subscribe_queue_size  = readMember<int>(object_iter->second, "subscribe_queue_size", 1);
+    ROS_INFO("%s: initializing toppic \"%s\" queue_size \"%d\"...", node_name.c_str(), topic_name.c_str(), subscribe_queue_size);
+    ros::Subscriber sub = nh->subscribe(topic_name, subscribe_queue_size, &msleCallback);
+    mlse_subscribers.push_back(sub);
+  }  
+  ros::spin();  
+  return 0;
+}