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Migrate rtt_tf to tf2 #121

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merged 13 commits into from
May 15, 2019
Merged

Migrate rtt_tf to tf2 #121

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cc98786
refactor component to be implemented based on tf2::BufferCore
francisco-miguel-almeida Apr 26, 2019
dbbecdc
InputPort port_tf_static_in is connected to /tf_static topic
francisco-miguel-almeida Apr 26, 2019
ae3efb3
add rtt_tf2_msgs typekit for support of tf2 types in RTT
francisco-miguel-almeida Apr 26, 2019
a58c494
update rtt_tf tests to load any useful plugins automatically
francisco-miguel-almeida Apr 26, 2019
b66a304
Update README by referring to tf2.
francisco-miguel-almeida Apr 30, 2019
ac6df7d
rtt_tf2_msgs: update package by using create_rtt_msgs script from rtt…
meyerj May 6, 2019
d1da018
Merge branch 'toolchain-2.9' into rtt-migrate-tf2
meyerj May 8, 2019
7244f95
remove unnecessary import statements from README. The rtt_ros plugin …
francisco-miguel-almeida May 13, 2019
6f8df09
rtt_tf: add dependencies on tf2, rtt_tf2_msgs to rtt_tf
francisco-miguel-almeida May 13, 2019
cf9a741
rtt_tf: add canTransformAtTime operation, remove code duplication and…
francisco-miguel-almeida May 13, 2019
18ad148
rtt_tf: handle configureHook() failure
francisco-miguel-almeida May 13, 2019
9be6c79
rtt_tf: reduce code in RTT_TF::internalUpdate and differentiate stati…
francisco-miguel-almeida May 13, 2019
9a864ec
rtt_tf: add output port for static transform and broadcastStaticTrans…
francisco-miguel-almeida May 13, 2019
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4 changes: 2 additions & 2 deletions rtt_tf/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,8 @@ orocos_install_headers(include/rtt_tf/tf_interface.h)

orocos_generate_package(
INCLUDE_DIRS include
DEPENDS tf
DEPENDS_TARGETS rtt_roscomm rtt_geometry_msgs
DEPENDS tf tf2
DEPENDS_TARGETS rtt_roscomm rtt_geometry_msgs rtt_tf2_msgs
)

# Tests
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8 changes: 4 additions & 4 deletions rtt_tf/README.md
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@@ -1,13 +1,13 @@
RTT TF
======

This package provides an Orocos RTT component for utilizing the TF rigid body
transform library from within Orocos. This component provides a "tf" service
This package provides an Orocos RTT component for utilizing the [TF2 rigid body
transform library](http://wiki.ros.org/tf2) from within Orocos. This component provides a "tf" service
with operations for requesting and broadcasting sing and batch transforms.

### Usage

In general, a given process only needs a single TF component. This component
In general, a given process only needs a single TF2 component. This component
provides the following operations both on its bare interface and also on the
provided "tf" RTT service.

Expand Down Expand Up @@ -47,7 +47,7 @@ connectServices("my_component","tf");

The [rtt\_tf/tf\_interface.h](include/rtt_tf/tf_interface.h) header includes the
`rtt_tf::TFInterface` class which adds a required service to a given RTT
component. This can be used for more easily connecting with the TF component.
component. This can be used for more easily connecting with the TF2 component.

It can be used to create the RTT service requester "tf" like so:

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16 changes: 14 additions & 2 deletions rtt_tf/include/rtt_tf/tf_interface.h
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Expand Up @@ -18,13 +18,19 @@ namespace rtt_tf {
lookupTransformAtTime("lookupTransformAtTime"),
broadcastTransform("broadcastTransform"),
broadcastTransforms("broadcastTransforms"),
canTransform("canTransform")
broadcastStaticTransform("broadcastStaticTransform"),
broadcastStaticTransforms("broadcastStaticTransforms"),
canTransform("canTransform"),
canTransformAtTime("canTransformAtTime")
{
owner->requires("tf")->addOperationCaller(lookupTransform);
owner->requires("tf")->addOperationCaller(lookupTransformAtTime);
owner->requires("tf")->addOperationCaller(broadcastTransform);
owner->requires("tf")->addOperationCaller(broadcastTransforms);
owner->requires("tf")->addOperationCaller(broadcastStaticTransform);
owner->requires("tf")->addOperationCaller(broadcastStaticTransforms);
owner->requires("tf")->addOperationCaller(canTransform);
owner->requires("tf")->addOperationCaller(canTransformAtTime);
}

//! Check if the operations are ready
Expand All @@ -34,14 +40,20 @@ namespace rtt_tf {
lookupTransformAtTime.ready() &&
broadcastTransform.ready() &&
broadcastTransforms.ready() &&
canTransform.ready();
broadcastStaticTransform.ready() &&
broadcastStaticTransforms.ready() &&
canTransform.ready() &&
canTransformAtTime.ready();
}

RTT::OperationCaller<geometry_msgs::TransformStamped(const std::string&, const std::string&)> lookupTransform;
RTT::OperationCaller<geometry_msgs::TransformStamped(const std::string&, const std::string&, const ros::Time&)> lookupTransformAtTime;
RTT::OperationCaller<void(const geometry_msgs::TransformStamped&)> broadcastTransform;
RTT::OperationCaller<void(const std::vector<geometry_msgs::TransformStamped>&)> broadcastTransforms;
RTT::OperationCaller<void(const geometry_msgs::TransformStamped&)> broadcastStaticTransform;
RTT::OperationCaller<void(const std::vector<geometry_msgs::TransformStamped>&)> broadcastStaticTransforms;
RTT::OperationCaller<bool(const std::string&, const std::string&)> canTransform;
RTT::OperationCaller<bool(const std::string&, const std::string&, const ros::Time&)> canTransformAtTime;
};
}

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5 changes: 5 additions & 0 deletions rtt_tf/package.xml
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Expand Up @@ -16,16 +16,21 @@

<build_depend>rtt</build_depend>
<build_depend>tf</build_depend>
<build_depend>tf2</build_depend>
<build_depend>rtt_roscomm</build_depend>
<build_depend>rtt_geometry_msgs</build_depend>
<build_depend>rtt_tf2_msgs</build_depend>

<run_depend>rtt</run_depend>
<run_depend>tf</run_depend>
<run_depend>tf2</run_depend>
<run_depend>rtt_roscomm</run_depend>
<run_depend>rtt_geometry_msgs</run_depend>
<run_depend>rtt_tf2_msgs</run_depend>

<export>
<rtt_ros>
<plugin_depend>rtt_tf2_msgs</plugin_depend>
<plugin_depend>rtt_roscomm</plugin_depend>
<plugin_depend>rtt_geometry_msgs</plugin_depend>
</rtt_ros>
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