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Add BT conversion TransformStamped #23

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Apr 19, 2023
Merged

Add BT conversion TransformStamped #23

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29 changes: 29 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_conversions.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"

namespace BT
{
Expand Down Expand Up @@ -100,6 +101,34 @@ inline geometry_msgs::msg::PoseStamped convertFromString(const StringView key)
}
}

/**
* @brief Parse XML string to geometry_msgs::msg::TransformStamped
* @param key XML string
* @return geometry_msgs::msg::TransformStamped
*/
template<>
inline geometry_msgs::msg::TransformStamped convertFromString(const StringView key)
{
// 7 real numbers separated by semicolons
auto parts = BT::splitString(key, ';');
if (parts.size() != 10) {
throw std::runtime_error("invalid number of fields for TransformStamped attribute)");
} else {
geometry_msgs::msg::TransformStamped transform_stamped;
transform_stamped.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[0]));
transform_stamped.header.frame_id = BT::convertFromString<std::string>(parts[1]);
transform_stamped.child_frame_id = BT::convertFromString<std::string>(parts[2]);
transform_stamped.transform.translation.x = BT::convertFromString<double>(parts[3]);
transform_stamped.transform.translation.y = BT::convertFromString<double>(parts[4]);
transform_stamped.transform.translation.z = BT::convertFromString<double>(parts[5]);
transform_stamped.transform.rotation.x = BT::convertFromString<double>(parts[6]);
transform_stamped.transform.rotation.y = BT::convertFromString<double>(parts[7]);
transform_stamped.transform.rotation.z = BT::convertFromString<double>(parts[8]);
transform_stamped.transform.rotation.w = BT::convertFromString<double>(parts[9]);
return transform_stamped;
}
}

/**
* @brief Parse XML string to std::chrono::milliseconds
* @param key XML string
Expand Down