Deprecate tf for tf2

src/rviz/default_plugin/axes_display.cpp

@@ -29,9 +29,20 @@
 
 #include <boost/bind.hpp>
 
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# ifdef __clang__
+#  pragma clang diagnostic ignored "-W#warnings"
+# endif
+#endif
+
 #include <OgreSceneNode.h>
 #include <OgreSceneManager.h>
 
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+
 #include "rviz/display_context.h"
 #include "rviz/frame_manager.h"
 #include "rviz/ogre_helpers/axes.h"

src/rviz/default_plugin/camera_display.cpp

@@ -29,6 +29,13 @@
 
 #include <boost/bind.hpp>
 
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# ifdef __clang__
+#  pragma clang diagnostic ignored "-W#warnings"
+# endif
+#endif
+
 #include <OgreManualObject.h>
 #include <OgreMaterialManager.h>
 #include <OgreRectangle2D.h>
@@ -41,7 +48,11 @@
 #include <OgreTechnique.h>
 #include <OgreCamera.h>
 
-#include <tf/transform_listener.h>
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+
+#include <tf2_ros/message_filter.h>
 
 #include "rviz/bit_allocator.h"
 #include "rviz/frame_manager.h"
@@ -82,7 +93,7 @@ CameraDisplay::CameraDisplay()
   : ImageDisplayBase()
   , texture_()
   , render_panel_( 0 )
-  , caminfo_tf_filter_( 0 )
+  , caminfo_tf_filter_( nullptr )
   , new_caminfo_( false )
   , force_render_( false )
   , caminfo_ok_(false)
@@ -127,8 +138,6 @@ CameraDisplay::~CameraDisplay()
     bg_scene_node_->getParentSceneNode()->removeAndDestroyChild( bg_scene_node_->getName() );
     fg_scene_node_->getParentSceneNode()->removeAndDestroyChild( fg_scene_node_->getName() );
 
-    delete caminfo_tf_filter_;
-
     context_->visibilityBits()->freeBits(vis_bit_);
   }
 }
@@ -137,8 +146,12 @@ void CameraDisplay::onInitialize()
 {
   ImageDisplayBase::onInitialize();
 
-  caminfo_tf_filter_ = new tf::MessageFilter<sensor_msgs::CameraInfo>( *context_->getTFClient(), fixed_frame_.toStdString(),
-                                                                       queue_size_property_->getInt(), update_nh_ );
+  caminfo_tf_filter_.reset(new tf2_ros::MessageFilter<sensor_msgs::CameraInfo>(
+    *context_->getTF2BufferPtr(),
+    fixed_frame_.toStdString(),
+    queue_size_property_->getInt(),
+    update_nh_
+  ));
 
   bg_scene_node_ = scene_node_->createChildSceneNode();
   fg_scene_node_ = scene_node_->createChildSceneNode();

src/rviz/default_plugin/camera_display.h

@@ -30,6 +30,8 @@
 #ifndef RVIZ_CAMERA_DISPLAY_H
 #define RVIZ_CAMERA_DISPLAY_H
 
+#include <memory>
+
 #include <QObject>
 
 #ifndef Q_MOC_RUN
@@ -40,7 +42,7 @@
 # include <sensor_msgs/CameraInfo.h>
 
 # include <message_filters/subscriber.h>
-# include <tf/message_filter.h>
+# include <tf2_ros/message_filter.h>
 
 # include "rviz/image/image_display_base.h"
 # include "rviz/image/ros_image_texture.h"
@@ -126,7 +128,7 @@ private Q_SLOTS:
   Ogre::MaterialPtr fg_material_;
 
   message_filters::Subscriber<sensor_msgs::CameraInfo> caminfo_sub_;
-  tf::MessageFilter<sensor_msgs::CameraInfo>* caminfo_tf_filter_;
+  std::unique_ptr<tf2_ros::MessageFilter<sensor_msgs::CameraInfo>> caminfo_tf_filter_;
 
   FloatProperty* alpha_property_;
   EnumProperty* image_position_property_;

src/rviz/default_plugin/depth_cloud_display.cpp

@@ -39,7 +39,7 @@
 #include "rviz/properties/int_property.h"
 #include "rviz/frame_manager.h"
 
-#include <tf/transform_listener.h>
+#include <tf2_ros/buffer.h>
 
 #include <boost/bind.hpp>
 #include <boost/algorithm/string/erase.hpp>
@@ -310,8 +310,13 @@ void DepthCloudDisplay::subscribe()
       // subscribe to depth map topic
       depthmap_sub_->subscribe(*depthmap_it_, depthmap_topic, queue_size_,  image_transport::TransportHints(depthmap_transport));
 
-      depthmap_tf_filter_.reset(
-          new tf::MessageFilter<sensor_msgs::Image>(*depthmap_sub_, *context_->getTFClient(), fixed_frame_.toStdString(), queue_size_, threaded_nh_));
+      depthmap_tf_filter_.reset(new tf2_ros::MessageFilter<sensor_msgs::Image>(
+        *depthmap_sub_,
+        *context_->getTF2BufferPtr(),
+        fixed_frame_.toStdString(),
+        queue_size_,
+        threaded_nh_
+      ));
 
       // subscribe to CameraInfo  topic
       std::string info_topic = image_transport::getCameraInfoTopic(depthmap_topic);

src/rviz/default_plugin/depth_cloud_display.h

@@ -40,7 +40,7 @@
 # include <message_filters/subscriber.h>
 # include <message_filters/synchronizer.h>
 # include <message_filters/sync_policies/approximate_time.h>
-# include <tf/message_filter.h>
+# include <tf2_ros/message_filter.h>
 
 # include "rviz/properties/enum_property.h"
 # include "rviz/properties/float_property.h"
@@ -181,7 +181,7 @@ protected Q_SLOTS:
   // ROS image subscription & synchronization
   boost::scoped_ptr<image_transport::ImageTransport> depthmap_it_;
   boost::shared_ptr<image_transport::SubscriberFilter > depthmap_sub_;
-  boost::shared_ptr<tf::MessageFilter<sensor_msgs::Image> > depthmap_tf_filter_;
+  boost::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::Image> > depthmap_tf_filter_;
   boost::scoped_ptr<image_transport::ImageTransport> rgb_it_;
   boost::shared_ptr<image_transport::SubscriberFilter > rgb_sub_;
   boost::shared_ptr<message_filters::Subscriber<sensor_msgs::CameraInfo> > cam_info_sub_;

src/rviz/default_plugin/effort_display.cpp

@@ -1,8 +1,6 @@
 #include <OgreSceneNode.h>
 #include <OgreSceneManager.h>
 
-#include <tf/transform_listener.h>
-
 #include <rviz/visualization_manager.h>
 #include <rviz/properties/color_property.h>
 #include <rviz/properties/float_property.h>

src/rviz/default_plugin/effort_display.h

@@ -544,12 +544,33 @@ class MessageFilterJointStateDisplay: public _RosTopicDisplay
 
   virtual void onInitialize()
     {
-      tf_filter_ = new tf::MessageFilterJointState( *context_->getTFClient(),
+    	// TODO(wjwwood): remove this and use tf2 interface instead
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
+		  auto tf_client = context_->getTFClient();
+
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+      tf_filter_ = new tf::MessageFilterJointState( *tf_client,
                                                     fixed_frame_.toStdString(), 10, update_nh_ );
 
       tf_filter_->connectInput( sub_ );
       tf_filter_->registerCallback( boost::bind( &MessageFilterJointStateDisplay::incomingMessage, this, _1 ));
+     	// TODO(wjwwood): remove this and use tf2 interface instead
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
       context_->getFrameManager()->registerFilterForTransformStatusCheck( tf_filter_, this );
+
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
     }
 
   virtual ~MessageFilterJointStateDisplay()

src/rviz/default_plugin/grid_cells_display.cpp

@@ -29,12 +29,24 @@
 
 #include <boost/bind.hpp>
 
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wpedantic"
+# ifdef __clang__
+#  pragma clang diagnostic ignored "-Wdeprecated-register"
+# endif
+# pragma GCC diagnostic ignored "-Woverloaded-virtual"
+# pragma GCC diagnostic ignored "-Wunused-parameter"
+#endif
+
 #include <OgreSceneNode.h>
 #include <OgreSceneManager.h>
 #include <OgreManualObject.h>
 #include <OgreBillboardSet.h>
 
-#include <tf/transform_listener.h>
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
 
 #include "rviz/frame_manager.h"
 #include "rviz/ogre_helpers/arrow.h"
@@ -73,8 +85,23 @@ GridCellsDisplay::GridCellsDisplay()
 
 void GridCellsDisplay::onInitialize()
 {
-  tf_filter_ = new tf::MessageFilter<nav_msgs::GridCells>( *context_->getTFClient(), fixed_frame_.toStdString(),
-                                                           10, update_nh_ );
+  // TODO(wjwwood): remove this and use tf2 interface instead
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
+  auto tf_client = context_->getTFClient();
+
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+
+  tf_filter_ = new tf::MessageFilter<nav_msgs::GridCells>(
+    *tf_client,
+    fixed_frame_.toStdString(),
+    10,
+    update_nh_);
   static int count = 0;
   std::stringstream ss;
   ss << "PolyLine" << count++;
@@ -88,7 +115,17 @@ void GridCellsDisplay::onInitialize()
 
   tf_filter_->connectInput( sub_ );
   tf_filter_->registerCallback( boost::bind( &GridCellsDisplay::incomingMessage, this, _1 ));
+// TODO(wjwwood): remove this and use tf2 interface instead
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
   context_->getFrameManager()->registerFilterForTransformStatusCheck( tf_filter_, this );
+
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
 }
 
 GridCellsDisplay::~GridCellsDisplay()

src/rviz/default_plugin/image_display.cpp

@@ -29,6 +29,16 @@
 
 #include <boost/bind.hpp>
 
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wpedantic"
+# ifdef __clang__
+#  pragma clang diagnostic ignored "-Wdeprecated-register"
+# endif
+# pragma GCC diagnostic ignored "-Woverloaded-virtual"
+# pragma GCC diagnostic ignored "-Wunused-parameter"
+#endif
+
 #include <OgreManualObject.h>
 #include <OgreMaterialManager.h>
 #include <OgreRectangle2D.h>
@@ -42,7 +52,9 @@
 #include <OgreTechnique.h>
 #include <OgreCamera.h>
 
-#include <tf/transform_listener.h>
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
 
 #include "rviz/display_context.h"
 #include "rviz/frame_manager.h"
@@ -189,6 +201,8 @@ void ImageDisplay::clear()
 
 void ImageDisplay::update( float wall_dt, float ros_dt )
 {
+  Q_UNUSED(wall_dt)
+  Q_UNUSED(ros_dt)
   try
   {
     texture_.update();

src/rviz/default_plugin/interactive_marker_display.cpp

@@ -106,7 +106,17 @@ InteractiveMarkerDisplay::InteractiveMarkerDisplay()
 
 void InteractiveMarkerDisplay::onInitialize()
 {
+  // TODO(wjwwood): remove this and use tf2 interface instead
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
   tf::Transformer* tf = context_->getFrameManager()->getTFClient();
+
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
   im_client_.reset( new interactive_markers::InteractiveMarkerClient( *tf, fixed_frame_.toStdString() ) );
 
   im_client_->setInitCb( boost::bind( &InteractiveMarkerDisplay::initCb, this, _1 ) );

src/rviz/default_plugin/interactive_markers/interactive_marker.cpp

@@ -315,8 +315,18 @@ void InteractiveMarker::updateReferencePose()
     else
     {
       std::string error;
+      // TODO(wjwwood): remove this and use tf2 interface instead
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
       int retval = context_->getFrameManager()->getTFClient()->getLatestCommonTime(
           reference_frame_, fixed_frame, reference_time_, &error );
+
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
       if ( retval != tf::NO_ERROR )
       {
         std::ostringstream s;

src/rviz/default_plugin/laser_scan_display.cpp

@@ -94,7 +94,18 @@ void LaserScanDisplay::processMessage( const sensor_msgs::LaserScanConstPtr& sca
 
   try
   {
-    projector_->transformLaserScanToPointCloud( fixed_frame_.toStdString(), *scan, *cloud, *context_->getTFClient(),
+    // TODO(wjwwood): remove this and use tf2 interface instead
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
+    auto tf_client = context_->getTFClient();
+
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+    projector_->transformLaserScanToPointCloud( fixed_frame_.toStdString(), *scan, *cloud, *tf_client,
                                                 laser_geometry::channel_option::Intensity );
   }
   catch (tf::TransformException& e)

src/rviz/default_plugin/map_display.cpp

@@ -39,8 +39,6 @@
 
 #include <ros/ros.h>
 
-#include <tf/transform_listener.h>
-
 #include "rviz/frame_manager.h"
 #include "rviz/ogre_helpers/custom_parameter_indices.h"
 #include "rviz/ogre_helpers/grid.h"