/usr/include/tf2_ros/buffer_server.h is in libtf2-ros-dev 0.5.16-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 | /*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef TF2_ROS_BUFFER_SERVER_H_
#define TF2_ROS_BUFFER_SERVER_H_
#include <actionlib/server/action_server.h>
#include <tf2_msgs/LookupTransformAction.h>
#include <geometry_msgs/TransformStamped.h>
#include <tf2_ros/buffer.h>
namespace tf2_ros
{
/** \brief Action server for the actionlib-based implementation of tf2_ros::BufferInterface.
*
* Use this class with a tf2_ros::TransformListener in the same process.
* You can use this class with a tf2_ros::BufferClient in a different process.
*/
class BufferServer
{
private:
typedef actionlib::ActionServer<tf2_msgs::LookupTransformAction> LookupTransformServer;
typedef LookupTransformServer::GoalHandle GoalHandle;
struct GoalInfo
{
GoalHandle handle;
ros::Time end_time;
};
public:
/** \brief Constructor
* \param buffer The Buffer that this BufferServer will wrap.
* \param ns The namespace in which to look for action clients.
* \param auto_start Pass argument to the constructor of the ActionServer.
* \param check_period How often to check for changes to known transforms (via a timer event).
*/
BufferServer(const Buffer& buffer, const std::string& ns,
bool auto_start = true, ros::Duration check_period = ros::Duration(0.01));
/** \brief Start the action server.
*/
void start();
private:
void goalCB(GoalHandle gh);
void cancelCB(GoalHandle gh);
void checkTransforms(const ros::TimerEvent& e);
bool canTransform(GoalHandle gh);
geometry_msgs::TransformStamped lookupTransform(GoalHandle gh);
const Buffer& buffer_;
LookupTransformServer server_;
std::list<GoalInfo> active_goals_;
boost::mutex mutex_;
ros::Timer check_timer_;
};
}
#endif
|