Switch to tf2

[vrabaud]

This is a replacement for indigo of #298, which was for hydro.

[vrabaud]

All the fixes needed upstream to get that code to compile went through but you still need those two merge requests to get tests to pass:

• fix deadlock ros/geometry2#79
• filters: fix unsupported old messages with frame_id starting with '/' ros/geometry2#83

[vrabaud]

and btw, the main motivation for tf2 is to remove the PCL dependency (which will be the next merge request : vrabaud@28b3981 )

[vrabaud]

should I close that pull request and re-open it for Jade only ?

[mikeferguson]

We can leave this one open -- but please open a PR for Jade and then if we end up backporting we will already have this PR for the backport to indigo.

[mikeferguson]

@vrabaud with PR79 merged, 83 looks like it is only for bag files -- this is probably ready for on-robot testing? If so I'll get one my folks to test it out.

[vrabaud]

indeed, go ahead !

[vrabaud]

I had to make a few more commits because of some build failures when cherry-picking for Jade. Nothing major, it's all good to go but I have to say that the amcl tests do not pass on Jade...

[vrabaud]

I had forgotten to install a Python package .... everything's fine and cherry-pickable for jade on my side.

[vrabaud]

all the upstream bugs in tf2 got fixed. Have you guys had time to test ? I just rebased.
I know it's a scary change but if you just look line by line, you'll see the changes are pretty trivial at 95%.
We can also just focus on Jade of course.

[vrabaud]

Let's just focus on Jade and #322