Migrate to tf2 #93
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Migrate to tf2 #93
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- Add tf2 dependencies instead of tf. - Update yp-spur requirements (same as in package.xml). - Set compiler to cpp14. - Replace calls to tf functions with their tf2 equivalent.
[45] FAILED on noetic
[45] FAILED on melodic
|
[45] FAILED on kinetic
|
[46] PASSED on melodicAll tests passed[46] PASSED on noeticAll tests passed[46] PASSED on kineticAll tests passed |
at-wat
reviewed
Mar 23, 2021
src/ypspur_ros.cpp
Outdated
| for (unsigned int i = 0; i < joints_.size(); i++) | ||
| { | ||
| joint_trans[i].transform.rotation = | ||
| tf::createQuaternionMsgFromYaw(joint.position[i]); | ||
| quat_tf.setRPY(0, 0, joint.position[i]); |
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Suggested change
| quat_tf.setRPY(0, 0, joint.position[i]); | |
| const tf2::Quaternion quat_tf(0, 0, joint.position[i]); |
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This method seems to be deprecated http://docs.ros.org/en/noetic/api/tf2/html/classtf2_1_1Quaternion.html#a3e763411f10c67bd23bbfcc1b880793f. We can use this one though: http://docs.ros.org/en/noetic/api/tf2/html/classtf2_1_1Quaternion.html#ae23b2f32c74adb17fceb71187346f3af
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trans.transform.rotation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), msg->position[i]));
at-wat
reviewed
Mar 23, 2021
src/ypspur_ros.cpp
Outdated
| joint_trans[i].transform.rotation = | ||
| tf::createQuaternionMsgFromYaw(joint.position[i]); | ||
| quat_tf.setRPY(0, 0, joint.position[i]); | ||
| joint_trans[i].transform.rotation = tf2::toMsg(quat_tf); |
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or
Suggested change
| joint_trans[i].transform.rotation = tf2::toMsg(quat_tf); | |
| joint_trans[i].transform.rotation = tf2::toMsg(tf2::Quaternion(0, 0, joint.position[i])); |
would be more simple.
[47] PASSED on noeticAll tests passed |
[47] PASSED on kineticAll tests passed |
[47] PASSED on melodicAll tests passed |
at-wat
reviewed
Mar 23, 2021
src/ypspur_ros.cpp
Outdated
| @@ -88,6 +88,7 @@ class YpspurRosNode | |||
| tf2_ros::Buffer tf_buffer_; | |||
| tf2_ros::TransformListener tf_listener_; | |||
| tf2_ros::TransformBroadcaster tf_broadcaster_; | |||
| tf2::Vector3 z_axis_; | |||
- Use const.
[48] PASSED on melodicAll tests passed[48] PASSED on noeticAll tests passed |
[48] PASSED on kineticAll tests passed |
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This PR replaces calls to
tffunctions with theirtf2equivalent.