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Replace TF with TF2 #71

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vooon opened this issue Jul 30, 2014 · 12 comments
Closed

Replace TF with TF2 #71

vooon opened this issue Jul 30, 2014 · 12 comments
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@vooon
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API change enhancement plugin
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Version 0.13

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@vooon
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vooon commented Jul 30, 2014

Most of plugins use 'deprecated' tf package, while Hydro recommend tf2.
@vooon vooon added the plugin label Jul 30, 2014
@TSC21
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TSC21 commented Aug 5, 2014

What's the status on this @vooon? I already tried to implement but there seems to be a confusion in the tutorials regarding the header folder to include. In some say to use tf2 and in others tf2_ros.

@vooon
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vooon commented Aug 6, 2014

It is todo for next release (0.8).

@vooon vooon added this to the Version 0.8.0 milestone Aug 11, 2014
@TSC21
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TSC21 commented Aug 16, 2014

I will get my hands on this now ;)

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TSC21 commented Aug 16, 2014

This is not easy at all. The tutorials are all messed up, not sync and there are header which don't even exist!

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TSC21 commented Aug 16, 2014

Well I have found this: https://github.com/ros/geometry_tutorials/blob/hydro-devel/turtle_tf2/src/turtle_tf2_listener.cpp which can help write the listening.
But, as you can see, now we have to create geometry_msgs::TransformStamped or geometry_msgs::Transform, which will significantly change the implementation on the rest of the plugins.
setpoint_mixin.h is fairly easy to change. The rest of the plugins not so easy I think.

@tonybaltovski
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Despite TF being depreciated, not many things use TF2.

@TSC21
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TSC21 commented Aug 18, 2014

Yeah I'm aware of it. Right now I leave as is cause the implementation of tf2 is kinda weird and not self explanatory. Also, lacks well made tutorials.

@vooon vooon removed this from the Version 0.8.0 milestone Sep 8, 2014
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TSC21 commented May 18, 2015

@vooon want to try to get this up and running?

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vooon commented May 18, 2015

Maybe, but it also require using eigen.
18.05.2015 23:26 пользователь "TSC21" notifications@github.com написал:

@vooon https://github.com/vooon want to try to get this up and running?

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Reply to this email directly or view it on GitHub
#71 (comment).

@dreamkeep
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can some one give a sample to takeoff use ./mavcmd ?

@vooon
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vooon commented May 21, 2015

@dreamkeep wrong issue. Also https://github.com/mavlink/mavros#support-forums-and-chats

rosrun mavros mavsafety arm
rosrun mavros mavcmd takeoffcur 0 0 20

@vooon vooon mentioned this issue Jun 28, 2015
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vooon added a commit that referenced this issue Jul 2, 2015
@vooon
plugin: global_position #325: port tf broadcaster to tf2
cfa37c9 
Also #71.
@vooon vooon self-assigned this Jul 2, 2015
@vooon
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vooon commented Jul 9, 2015

Hmm, i'm readed the tf2_ros source code and thinking to move tf to UAS, so use single buffer instead of multiple ones.

vooon added a commit that referenced this issue Jul 9, 2015
@vooon
plugin: local_position #71 #319: port to TF2 and Eigen
8ccd073
vooon added a commit that referenced this issue Jul 10, 2015
@vooon
uas #71: Use single TF2 objects for broadcasting and subscription.
774f054
vooon added a commit that referenced this issue Jul 10, 2015
@vooon
plugin #71: Implement TF2 listener. Change param names.
411b7e7 
Breaks extras.
vooon added a commit that referenced this issue Jul 10, 2015
@vooon
extras: vision_pose #71: Use TF2 listener.
f22ab3b 
Also #319.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
plugin: local_position mavlink#71 mavlink#319: port to TF2 and Eigen
fa511bc
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
uas mavlink#71: Use single TF2 objects for broadcasting and subscript…
48a1e9d 
…ion.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
plugin mavlink#71: Implement TF2 listener. Change param names.
0506f5f 
Breaks extras.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
extras: vision_pose mavlink#71: Use TF2 listener.
deb0220 
Also mavlink#319.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
plugin: local_position mavlink#71 mavlink#319: port to TF2 and Eigen
79e8a6b
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
uas mavlink#71: Use single TF2 objects for broadcasting and subscript…
d28469a 
…ion.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
plugin mavlink#71: Implement TF2 listener. Change param names.
eb7ce68 
Breaks extras.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
extras: vision_pose mavlink#71: Use TF2 listener.
2c8879e 
Also mavlink#319.
vooon added a commit that referenced this issue Jul 10, 2015
@vooon
extras: distance_sensor #71: Purt to TF2.
ea8449c
@vooon vooon closed this as completed in 41631cd Jul 10, 2015
@vooon vooon added this to the Version 0.13 milestone Jul 10, 2015
@vooon vooon mentioned this issue Jul 10, 2015
Merged
vooon added a commit that referenced this issue Jul 10, 2015
@vooon
Merge branch 'master' into verbcast
6e2a39f 
* master:
  fix #71: replace depend tf to tf2_ros.
  extras: distance_sensor #71: Purt to TF2.
  plugin: Use UAS::syncronized_header() for reduce LOC.
  lib #319: use similar names for covariances as eigen vector
  lib #319: transform_frame() for Covariance3x3
  lib #319: remove unused bullet based transform_frame()
  extras: vision_pose #71: Use TF2 listener.
  plugin #71: Implement TF2 listener. Change param names.
  uas #71: Use single TF2 objects for broadcasting and subscription.
  launch: Update configs.
  extras: viz #336: convert plugin to node.
  lib: Add UAS::quaternion_to_rpy()
  extras: vision_speed #319: use eigen based transform
  extras: vibration: Use UAS::synchronized_header()
  extras: px4flow #319: change transform_frame()
  extras: mocap #319: use eigen based transform
  plugin: safety_area #319: Change transform_frame()
  plugin: local_position #71 #319: port to TF2 and Eigen
  lib: Add UAS::synchonized_header()
  plugin: command: Add command broadcasting support.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
plugin: local_position mavlink#71 mavlink#319: port to TF2 and Eigen
21e8754
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
uas mavlink#71: Use single TF2 objects for broadcasting and subscript…
0a20ace 
…ion.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
plugin mavlink#71: Implement TF2 listener. Change param names.
32852a3 
Breaks extras.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
extras: vision_pose mavlink#71: Use TF2 listener.
2b818aa 
Also mavlink#319.
@vooon vooon mentioned this issue Jul 21, 2015
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4 tasks
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@vooon @dreamkeep @tonybaltovski @TSC21