Port TFClient impls to TypeScript (#1009)

Author: EzraBrooks

src/core/Ros.ts

@@ -19,7 +19,7 @@ import {
 import Topic from "./Topic.js";
 import Service from "./Service.js";
 import Param from "./Param.js";
-import TFClient from "../tf/TFClient.js";
+import TFClient from "../tf/TFClient";
 import ActionClient from "../actionlib/ActionClient.js";
 import SimpleActionServer from "../actionlib/SimpleActionServer.js";
 import { EventEmitter } from "eventemitter3";

src/tf/BaseTFClient.js renamed to src/tf/BaseTFClient.ts

@@ -1,35 +1,41 @@
 import Transform from "../math/Transform.js";
 import { EventEmitter } from "eventemitter3";
+import Ros from "../core/Ros.js";
+import { tf2_msgs } from "../types/tf2_msgs.js";
 
 /**
  * Base class for TF Clients that provides common functionality.
  */
 export default class BaseTFClient extends EventEmitter {
-  frameInfos = {};
+  frameInfos: Record<
+    string,
+    { transform?: Transform; cbs: ((tf: Transform) => void)[] }
+  > = {};
   republisherUpdateRequested = false;
-  /** @type {((tf: any) => any) | undefined} */
-  _subscribeCB = undefined;
   _isDisposed = false;
-  ros;
-  fixedFrame;
-  angularThres;
-  transThres;
-  rate;
-  updateDelay;
-  topicTimeout;
-  serverName;
+  ros: Ros;
+  fixedFrame: string;
+  angularThres: number;
+  transThres: number;
+  rate: number;
+  updateDelay: number;
+  topicTimeout: {
+    sec: number;
+    nsec: number;
+  };
+  serverName: string;
 
   /**
-   * @param {Object} options
-   * @param {import('../core/Ros.js').default} options.ros - The ROSLIB.Ros connection handle.
-   * @param {string} [options.fixedFrame=base_link] - The fixed frame.
-   * @param {number} [options.angularThres=2.0] - The angular threshold for the TF republisher.
-   * @param {number} [options.transThres=0.01] - The translation threshold for the TF republisher.
-   * @param {number} [options.rate=10.0] - The rate for the TF republisher.
-   * @param {number} [options.updateDelay=50] - The time (in ms) to wait after a new subscription
+   * @param options
+   * @param options.ros - The ROSLIB.Ros connection handle.
+   * @param [options.fixedFrame=base_link] - The fixed frame.
+   * @param [options.angularThres=2.0] - The angular threshold for the TF republisher.
+   * @param [options.transThres=0.01] - The translation threshold for the TF republisher.
+   * @param [options.rate=10.0] - The rate for the TF republisher.
+   * @param [options.updateDelay=50] - The time (in ms) to wait after a new subscription
    *     to update the TF republisher's list of TFs.
-   * @param {number} [options.topicTimeout=2.0] - The timeout parameter for the TF republisher.
-   * @param {string} [options.serverName="/tf2_web_republisher"] - The name of the tf2_web_republisher server.
+   * @param [options.topicTimeout=2.0] - The timeout parameter for the TF republisher.
+   * @param [options.serverName="/tf2_web_republisher"] - The name of the tf2_web_republisher server.
    */
   constructor({
     ros,
@@ -40,6 +46,15 @@ export default class BaseTFClient extends EventEmitter {
     updateDelay = 50,
     topicTimeout = 2.0,
     serverName = "/tf2_web_republisher",
+  }: {
+    ros: Ros;
+    fixedFrame?: string;
+    angularThres?: number;
+    transThres?: number;
+    rate?: number;
+    updateDelay?: number;
+    topicTimeout?: number;
+    serverName?: string;
   }) {
     super();
 
@@ -53,8 +68,8 @@ export default class BaseTFClient extends EventEmitter {
     const secs = Math.floor(seconds);
     const nsecs = Math.floor((seconds - secs) * 1000000000);
     this.topicTimeout = {
-      secs: secs,
-      nsecs: nsecs,
+      sec: secs,
+      nsec: nsecs,
     };
     this.serverName = serverName;
   }
@@ -63,23 +78,22 @@ export default class BaseTFClient extends EventEmitter {
    * Process the incoming TF message and send them out using the callback
    * functions.
    *
-   * @param {Object} tf - The TF message from the server.
+   * @param tf - The TF message from the server.
    */
-  processTFArray(tf) {
+  processTFArray(tf: tf2_msgs.TFMessage) {
     tf.transforms.forEach((transform) => {
       let frameID = transform.child_frame_id;
       if (frameID[0] === "/") {
         frameID = frameID.substring(1);
       }
       const info = this.frameInfos[frameID];
       if (info) {
-        info.transform = new Transform({
+        const tf = new Transform({
           translation: transform.transform.translation,
           rotation: transform.transform.rotation,
         });
-        info.cbs.forEach((cb) => {
-          cb(info.transform);
-        });
+        info.transform = tf;
+        info.cbs.forEach((cb) => cb(tf));
       }
     }, this);
   }
@@ -93,17 +107,13 @@ export default class BaseTFClient extends EventEmitter {
     throw new Error("updateGoal() must be implemented by subclass");
   }
 
-  /**
-   * @callback subscribeCallback
-   * @param {Transform} callback.transform - The transform data.
-   */
   /**
    * Subscribe to the given TF frame.
    *
-   * @param {string} frameID - The TF frame to subscribe to.
-   * @param {subscribeCallback} callback - Function with the following params:
+   * @param frameID - The TF frame to subscribe to.
+   * @param callback - Function with the following params:
    */
-  subscribe(frameID, callback) {
+  subscribe(frameID: string, callback: (transform: Transform) => void) {
     // remove leading slash, if it's there
     if (frameID.startsWith("/")) {
       frameID = frameID.substring(1);
@@ -120,19 +130,20 @@ export default class BaseTFClient extends EventEmitter {
     }
 
     // if we already have a transform, callback immediately
-    else if (this.frameInfos[frameID].transform) {
-      callback(this.frameInfos[frameID].transform);
+    const transform = this.frameInfos[frameID].transform;
+    if (transform) {
+      callback(transform);
     }
     this.frameInfos[frameID].cbs.push(callback);
   }
 
   /**
    * Unsubscribe from the given TF frame.
    *
-   * @param {string} frameID - The TF frame to unsubscribe from.
-   * @param {function} callback - The callback function to remove.
+   * @param frameID - The TF frame to unsubscribe from.
+   * @param callback - The callback function to remove.
    */
-  unsubscribe(frameID, callback) {
+  unsubscribe(frameID: string, callback: (transform: Transform) => void) {
     // remove leading slash, if it's there
     if (frameID.startsWith("/")) {
       frameID = frameID.substring(1);

src/tf/ROS2TFClient.js renamed to src/tf/ROS2TFClient.ts

@@ -1,16 +1,20 @@
+import { tf2_web_republisher } from "../types/tf2_web_republisher.js";
 import Action from "../core/Action.js";
 import BaseTFClient from "./BaseTFClient.js";
 
 /**
  * A TF Client that listens to TFs from tf2_web_republisher using ROS2 actions.
  */
 export default class ROS2TFClient extends BaseTFClient {
-  goal_id;
-  actionClient;
-  currentGoal;
+  goal_id: string;
+  actionClient: Action<
+    tf2_web_republisher.TFSubscriptionGoal,
+    tf2_web_republisher.TFSubscriptionResult,
+    tf2_web_republisher.TFSubscriptionFeedback
+  >;
+  currentGoal: tf2_web_republisher.TFSubscriptionGoal;
 
-  /** @param {ConstructorParameters<typeof BaseTFClient>[0]} options */
-  constructor(options) {
+  constructor(options: ConstructorParameters<typeof BaseTFClient>[0]) {
     super(options);
 
     this.goal_id = "";
@@ -44,7 +48,7 @@ export default class ROS2TFClient extends BaseTFClient {
     const id = this.actionClient.sendGoal(
       goalMessage,
       () => {},
-      (feedback) => {
+      (feedback: tf2_web_republisher.TFSubscriptionFeedback) => {
         this.processTFArray(feedback);
       },
     );

src/tf/TFClient.js renamed to src/tf/TFClient.ts

@@ -8,35 +8,53 @@ import Goal from "../actionlib/Goal.js";
 
 import Service from "../core/Service.js";
 import Topic from "../core/Topic.js";
+import Ros from "../core/Ros.js";
+import { tf2_msgs } from "../types/tf2_msgs.js";
+import { tf2_web_republisher } from "../types/tf2_web_republisher.js";
 
 import BaseTFClient from "./BaseTFClient.js";
 
 /**
  * A TF Client that listens to TFs from tf2_web_republisher.
  */
 export default class TFClient extends BaseTFClient {
-  /** @type {Goal|false} */
-  currentGoal = false;
-  /** @type {Topic|false} */
-  currentTopic = false;
-  repubServiceName;
-  actionClient;
-  serviceClient;
+  currentGoal: Goal<tf2_web_republisher.TFSubscriptionGoal> | false = false;
+  currentTopic: Topic<tf2_msgs.TFMessage> | false = false;
+  repubServiceName: string;
+  actionClient: ActionClient<tf2_web_republisher.TFSubscriptionGoal>;
+  serviceClient: Service<
+    tf2_web_republisher.RepublishTFsRequest,
+    tf2_web_republisher.RepublishTFsResponse
+  >;
+  _subscribeCB: ((tf: tf2_msgs.TFMessage) => void) | undefined = undefined;
 
   /**
-   * @param {Object} options
-   * @param {import('../core/Ros.js').default} options.ros - The ROSLIB.Ros connection handle.
-   * @param {string} [options.fixedFrame=base_link] - The fixed frame.
-   * @param {number} [options.angularThres=2.0] - The angular threshold for the TF republisher.
-   * @param {number} [options.transThres=0.01] - The translation threshold for the TF republisher.
-   * @param {number} [options.rate=10.0] - The rate for the TF republisher.
-   * @param {number} [options.updateDelay=50] - The time (in ms) to wait after a new subscription
+   * @param options
+   * @param options.ros - The ROSLIB.Ros connection handle.
+   * @param [options.fixedFrame=base_link] - The fixed frame.
+   * @param [options.angularThres=2.0] - The angular threshold for the TF republisher.
+   * @param [options.transThres=0.01] - The translation threshold for the TF republisher.
+   * @param [options.rate=10.0] - The rate for the TF republisher.
+   * @param [options.updateDelay=50] - The time (in ms) to wait after a new subscription
    *     to update the TF republisher's list of TFs.
-   * @param {number} [options.topicTimeout=2.0] - The timeout parameter for the TF republisher.
-   * @param {string} [options.serverName="/tf2_web_republisher"] - The name of the tf2_web_republisher server.
-   * @param {string} [options.repubServiceName="/republish_tfs"] - The name of the republish_tfs service (non groovy compatibility mode only).
+   * @param [options.topicTimeout=2.0] - The timeout parameter for the TF republisher.
+   * @param [options.serverName="/tf2_web_republisher"] - The name of the tf2_web_republisher server.
+   * @param [options.repubServiceName="/republish_tfs"] - The name of the republish_tfs service (non groovy compatibility mode only).
    */
-  constructor({ repubServiceName = "/republish_tfs", ...options }) {
+  constructor({
+    repubServiceName = "/republish_tfs",
+    ...options
+  }: {
+    ros: Ros;
+    fixedFrame?: string;
+    angularThres?: number;
+    transThres?: number;
+    rate?: number;
+    updateDelay?: number;
+    topicTimeout?: number;
+    serverName?: string;
+    repubServiceName?: string;
+  }) {
     super(options);
 
     this.repubServiceName = repubServiceName;
@@ -63,7 +81,7 @@ export default class TFClient extends BaseTFClient {
    * based on the current list of TFs.
    */
   updateGoal() {
-    const goalMessage = {
+    const goalMessage: tf2_web_republisher.TFSubscriptionGoal = {
       source_frames: Object.keys(this.frameInfos),
       target_frame: this.fixedFrame,
       angular_thres: this.angularThres,
@@ -79,7 +97,7 @@ export default class TFClient extends BaseTFClient {
       if (this.currentGoal) {
         this.currentGoal.cancel();
       }
-      this.currentGoal = new Goal({
+      this.currentGoal = new Goal<tf2_web_republisher.TFSubscriptionGoal>({
         actionClient: this.actionClient,
         goalMessage: goalMessage,
       });
@@ -92,9 +110,8 @@ export default class TFClient extends BaseTFClient {
        * The service interface has the same parameters as the action,
        * plus the timeout
        */
-      goalMessage.timeout = this.topicTimeout;
       this.serviceClient.callService(
-        goalMessage,
+        { ...goalMessage, timeout: this.topicTimeout },
         this.processResponse.bind(this),
       );
     }
@@ -106,9 +123,9 @@ export default class TFClient extends BaseTFClient {
    * Process the service response and subscribe to the tf republisher
    * topic.
    *
-   * @param {Object} response - The service response containing the topic name.
+   * @param response - The service response containing the topic name.
    */
-  processResponse(response) {
+  processResponse(response: tf2_web_republisher.RepublishTFsResponse) {
     /*
      * Do not setup a topic subscription if already disposed. Prevents a race condition where
      * The dispose() function is called before the service call receives a response.
@@ -125,7 +142,7 @@ export default class TFClient extends BaseTFClient {
       this.currentTopic.unsubscribe(this._subscribeCB);
     }
 
-    this.currentTopic = new Topic({
+    this.currentTopic = new Topic<tf2_msgs.TFMessage>({
       ros: this.ros,
       name: response.topic_name,
       messageType: "tf2_web_republisher/TFArray",

src/tf/index.ts

@@ -1,2 +1,2 @@
-export { default as TFClient } from "./TFClient.js";
-export { default as ROS2TFClient } from "./ROS2TFClient.js";
+export { default as TFClient } from "./TFClient";
+export { default as ROS2TFClient } from "./ROS2TFClient";

src/types/geometry_msgs.ts

@@ -0,0 +1,22 @@
+export namespace geometry_msgs {
+  export interface TransformStamped {
+    // TODO: some sort of unholy union type of ros1 header and ros2 header???
+    child_frame_id: string;
+    transform: Transform;
+  }
+  export interface Transform {
+    translation: Vector3;
+    rotation: Quaternion;
+  }
+  export interface Vector3 {
+    x: number;
+    y: number;
+    z: number;
+  }
+  export interface Quaternion {
+    x: number;
+    y: number;
+    z: number;
+    w: number;
+  }
+}

src/types/tf2_msgs.ts

@@ -0,0 +1,7 @@
+import { geometry_msgs } from "./geometry_msgs";
+
+export namespace tf2_msgs {
+  export interface TFMessage {
+    transforms: geometry_msgs.TransformStamped[];
+  }
+}

src/types/tf2_web_republisher.ts

@@ -0,0 +1,28 @@
+import { geometry_msgs } from "./geometry_msgs";
+
+export namespace tf2_web_republisher {
+  export interface RepublishTFsRequest extends TFSubscriptionGoal {
+    timeout: {
+      sec: number;
+      nsec: number;
+    };
+  }
+
+  export interface RepublishTFsResponse {
+    topic_name: string;
+  }
+
+  export interface TFSubscriptionGoal {
+    source_frames: string[];
+    target_frame: string;
+    angular_thres: number;
+    trans_thres: number;
+    rate: number;
+  }
+
+  export type TFSubscriptionResult = Record<never, never>;
+
+  export interface TFSubscriptionFeedback {
+    transforms: geometry_msgs.TransformStamped[];
+  }
+}