o3de-extras/Gems/ROS2/Code/Source/Frame/ROS2Transform.cpp

/*
 * Copyright (c) Contributors to the Open 3D Engine Project.
 * For complete copyright and license terms please see the LICENSE at the root of this distribution.
 *
 * SPDX-License-Identifier: Apache-2.0 OR MIT
 *
 */

#include <ROS2/Clock/ROS2ClockRequestBus.h>
#include <ROS2/Frame/ROS2Transform.h>
#include <ROS2/ROS2Bus.h>
#include <ROS2/Utilities/ROS2Conversions.h>
#include <tf2_ros/qos.hpp>
#include <tf2_ros/transform_broadcaster.h>

namespace ROS2
{
    ROS2Transform::ROS2Transform(AZStd::string parentFrame, AZStd::string childFrame, bool isDynamic)
        : m_parentFrame(AZStd::move(parentFrame))
        , m_childFrame(AZStd::move(childFrame))
        , m_isDynamic(isDynamic)
    {
    }

    geometry_msgs::msg::TransformStamped ROS2Transform::CreateTransformMessage(const AZ::Transform& o3deTransform)
    {
        geometry_msgs::msg::TransformStamped t;
        ROS2::ROS2ClockRequestBus::BroadcastResult(t.header.stamp, &ROS2::ROS2ClockRequestBus::Events::GetROSTimestamp);
        t.header.frame_id = m_parentFrame.data();
        t.child_frame_id = m_childFrame.data();
        t.transform.translation = ROS2Conversions::ToROS2Vector3(o3deTransform.GetTranslation());
        t.transform.rotation = ROS2Conversions::ToROS2Quaternion(o3deTransform.GetRotation());
        return t;
    }

    void ROS2Transform::Publish(const AZ::Transform& transform)
    {
        if (m_isPublished && !m_isDynamic)
        { // Only publish static transforms once
            return;
        }
        ROS2Interface::Get()->BroadcastTransform(CreateTransformMessage(transform), m_isDynamic);
        m_isPublished = true;
    }
} // namespace ROS2