Commit e7b71188a8c6d74265437442b74a0d0b1d3d2947 - ros-geometry

Allow to choose output precision in tf_echo (#186) * Allow to choose output precision in tf_echo Victor Lamoine authored 5 years ago Tully Foote committed 5 years ago

1 changed file(s) with 14 addition(s) and 4 deletion(s). Raw diff Collapse all Expand all

+14

-4

tf/src/tf_echo.cpp less more

69	69	return -1;
70	70	}
71	71
72		ros::NodeHandle nh;
	72	ros::NodeHandle nh("~");
73	73
74	74	double rate_hz;
75	75	if (argc == 4)

80	80	else
81	81	{
82	82	// read rate parameter
83		ros::NodeHandle p_nh("~");
84		p_nh.param("rate", rate_hz, 1.0);
	83	nh.param("rate", rate_hz, 1.0);
85	84	}
86	85	if (rate_hz <= 0.0)
87	86	{

89	88	return -1;
90	89	}
91	90	ros::Rate rate(rate_hz);
	91
	92	int precision(3);
	93	if (nh.getParam("precision", precision))
	94	{
	95	if (precision < 1)
	96	{
	97	std::cerr << "Precision must be > 0\n";
	98	return -1;
	99	}
	100	printf("Precision default value was overriden, new value: %d\n", precision);
	101	}
92	102
93	103	//Instantiate a local listener
94	104	echoListener echoListener;

109	119	{
110	120	tf::StampedTransform echo_transform;
111	121	echoListener.tf.lookupTransform(source_frameid, target_frameid, ros::Time(), echo_transform);
112		std::cout.precision(3);
	122	std::cout.precision(precision);
113	123	std::cout.setf(std::ios::fixed,std::ios::floatfield);
114	124	std::cout << "At time " << echo_transform.stamp_.toSec() << std::endl;
115	125	double yaw, pitch, roll;