Create a version of tf2 for ros2. #135
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It is tested up to static_transform_publisher and tf2_echo and tf2_monitor are working.
| ament_lint_auto_find_test_dependencies() | ||
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| ament_add_gtest(test_cache_unittest test/cache_unittest.cpp) | ||
| target_link_libraries(test_cache_unittest tf2 ${geometry_msgs_LIBRARIES} ${console_bridge_LIBRARIES}) |
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This must check if the gtest target actually exists.
Same below.
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The patch shows how invasive the types |
| #include <builtin_interfaces/msg/time.hpp> | ||
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| // TODO(tfoote) | ||
| #error This has not been converted to ROS2 and will not compile |
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Is this needed for ros2 support or is this ok to overlook in this pr?
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This is currently commented out of the build as the datatype conversions packages were not included. This is how you interact with them. You have to use either the message datatypes or the tf2 native datatypes.
| @@ -61,7 +61,7 @@ int main(int argc, char** argv) | |||
| nh.param("buffer_size", buffer_size, 120.0); | |||
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| // WIM: this works fine: | |||
| tf2_ros::Buffer buffer_core(ros::Duration(buffer_size+0)); // WTF?? | |||
| tf2_ros::Buffer buffer_core(tf2::TempDuration(buffer_size+0)); // WTF?? | |||
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Well, other than my comments I guess I'd +1 this for merge. However, it still needs a lot of work and it is a bit discouraging that we don't have tests to verify that things behave as expected. There are a bunch of workarounds in this pr which just change the way |
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I created the aliases for tf2::TimePoint and tf2::Duration and deployed them through the compiling code. I also cleaned up a few windowsisms necessary to build. CI: |
Create a version of tf2 for ros2.
It is tested up to static_transform_publisher and tf2_echo and tf2_monitor are working.