New functionality to transform PoseWithCovarianceStamped messages. #282
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| @@ -161,7 +199,8 @@ int main(int argc, char **argv){ | |||
| ros::NodeHandle n; | |||
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| tf_buffer = new tf2_ros::Buffer(); | |||
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| tf_buffer->setUsingDedicatedThread(true); | |||
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When running the tests on my machine, I was getting many instances of this error:
[ERROR] [1518043130.234301067]: Do not call canTransform or lookupTransform with a timeout unless you are using another thread for populating data. Without a dedicated thread it will always timeout. If you have a seperate thread servicing tf messages, call setUsingDedicatedThread(true) on your Buffer instance.
Adding this line eliminated the errors.
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It's not "correct" but if it suppresses the warnings/errors for the test console output that's probably better for readability.
| * \param transform The timestamped transform to apply, as a TransformStamped message. | ||
| * \return The transformed covariance matrix. | ||
| */ | ||
| geometry_msgs::PoseWithCovariance::_covariance_type transformCovariance(const geometry_msgs::PoseWithCovariance::_covariance_type& cov_in, const tf2::Transform& transform) |
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Will fix.
| v1.pose.covariance[35] = 1; | ||
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| // simple api | ||
| const geometry_msgs::PoseWithCovarianceStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0)); |
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Can you add some basic checks of the covariance values? That's a core part of this and there's no coverage of it in these tests.
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Sure thing.
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Actually, just realized the transform t used in all these tests performs no rotations. I'll need to declare a local tf_ros::Buffer and Transform for my test to do a rotation on the covariance matrix.
2. Incorporated comments from tfoote. 3. Added testing of covariance rotation.
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Updated for requested changes. Testing the covariance transformation did reveal a bug, so good call there. |
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@ros-pull-request-builder retest this please |
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Looks like the failure is due to a canTransform call timing out in the tf2_ros tests. It passes if I run the tf2_ros tests alone on my machine though. |
| @@ -161,7 +199,8 @@ int main(int argc, char **argv){ | |||
| ros::NodeHandle n; | |||
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| tf_buffer = new tf2_ros::Buffer(); | |||
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| tf_buffer->setUsingDedicatedThread(true); | |||
There was a problem hiding this comment.
It's not "correct" but if it suppresses the warnings/errors for the test console output that's probably better for readability.
New functions added which handle the spatial transformation of a geometry_msgs::PoseWithCovarianceStamped message. The transformation mutates the covariance matrix as well as the pose.