/usr/include/tf2_ros/transform_listener.h is in libtf2-ros-dev 0.5.16-4.
This file is owned by root:root, with mode 0o644.
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* Copyright (c) 2008, 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 the 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 Tully Foote */
#ifndef TF2_ROS_TRANSFORMLISTENER_H
#define TF2_ROS_TRANSFORMLISTENER_H
#include "std_msgs/Empty.h"
#include "tf2_msgs/TFMessage.h"
#include "ros/ros.h"
#include "ros/callback_queue.h"
#include "tf2_ros/buffer.h"
#include "boost/thread.hpp"
namespace tf2_ros{
/** \brief This class provides an easy way to request and receive coordinate frame transform information.
*/
class TransformListener
{
public:
/**@brief Constructor for transform listener */
TransformListener(tf2::BufferCore& buffer, bool spin_thread = true);
TransformListener(tf2::BufferCore& buffer, const ros::NodeHandle& nh, bool spin_thread = true);
~TransformListener();
private:
/// Initialize this transform listener, subscribing, advertising services, etc.
void init();
void initWithThread();
/// Callback function for ros message subscriptoin
void subscription_callback(const ros::MessageEvent<tf2_msgs::TFMessage const>& msg_evt);
void static_subscription_callback(const ros::MessageEvent<tf2_msgs::TFMessage const>& msg_evt);
void subscription_callback_impl(const ros::MessageEvent<tf2_msgs::TFMessage const>& msg_evt, bool is_static);
ros::CallbackQueue tf_message_callback_queue_;
boost::thread* dedicated_listener_thread_;
ros::NodeHandle node_;
ros::Subscriber message_subscriber_tf_;
ros::Subscriber message_subscriber_tf_static_;
tf2::BufferCore& buffer_;
bool using_dedicated_thread_;
ros::Time last_update_;
void dedicatedListenerThread()
{
while (using_dedicated_thread_)
{
tf_message_callback_queue_.callAvailable(ros::WallDuration(0.01));
}
};
};
}
#endif //TF_TRANSFORMLISTENER_H
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