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Porting tf2_bullet to ros2 #205

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merged 13 commits into from
Mar 4, 2020
Merged

Porting tf2_bullet to ros2 #205

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7e6c1b7
Porting tf2_bullet to ros2
ahcorde Dec 17, 2019
1b068dd
fixed packae.xml
ahcorde Dec 17, 2019
d45d8d5
Fixed cmake for windows
ahcorde Dec 20, 2019
334abb4
tf2_bullet added build depend
ahcorde Feb 26, 2020
782688a
Merge branch 'ahcorde/pkg/tf2_bullet' of https://github.com/ros2/geom…
ahcorde Feb 26, 2020
358bcb0
tf2_bullet alphabetize package.xml
ahcorde Feb 26, 2020
f50cc45
Fixed licenses
ahcorde Feb 26, 2020
ba69b63
Added and fixed linters
ahcorde Feb 26, 2020
d3e6c56
tf2_bullet fixed uncrustify
ahcorde Feb 26, 2020
82d3217
fixed windows compiler warnings
ahcorde Mar 2, 2020
ef51aab
fixed windows uncrustify
ahcorde Mar 2, 2020
f9b1871
Fixed CXX compiler
ahcorde Mar 3, 2020
bf65035
removed unused variable tf2_bullet test
ahcorde Mar 4, 2020
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Empty file removed tf2_bullet/AMENT_IGNORE
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32 changes: 20 additions & 12 deletions tf2_bullet/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,19 +6,27 @@ find_package(PkgConfig REQUIRED)
set(bullet_FOUND 0)
pkg_check_modules(bullet REQUIRED bullet)

find_package(catkin REQUIRED COMPONENTS geometry_msgs tf2)
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)

include_directories(include ${bullet_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})

catkin_package(INCLUDE_DIRS include ${bullet_INCLUDE_DIRS})
include_directories(include ${bullet_INCLUDE_DIRS})

install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})


if(CATKIN_ENABLE_TESTING)

catkin_add_gtest(test_bullet test/test_tf2_bullet.cpp)
target_link_libraries(test_bullet ${catkin_LIBRARIES} ${GTEST_LIBRARIES})

DESTINATION include/${PROJECT_NAME}
)

if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
ament_add_gtest(test_bullet test/test_tf2_bullet.cpp)
ament_target_dependencies(test_bullet
tf2
geometry_msgs
tf2_ros
)
endif()

ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_package()
24 changes: 12 additions & 12 deletions tf2_bullet/include/tf2_bullet/tf2_bullet.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,8 @@

#include <tf2/convert.h>
#include <LinearMath/btTransform.h>
#include <geometry_msgs/PointStamped.h>

#include <geometry_msgs/msg/point_stamped.hpp>
#include <tf2_ros/buffer_interface.h>

namespace tf2
{
Expand All @@ -44,7 +44,7 @@ namespace tf2
* \return The transform message converted to a Bullet btTransform.
*/
inline
btTransform transformToBullet(const geometry_msgs::TransformStamped& t)
btTransform transformToBullet(const geometry_msgs::msg::TransformStamped& t)
{
return btTransform(btQuaternion(t.transform.rotation.x, t.transform.rotation.y,
t.transform.rotation.z, t.transform.rotation.w),
Expand All @@ -60,9 +60,9 @@ btTransform transformToBullet(const geometry_msgs::TransformStamped& t)
*/
template <>
inline
void doTransform(const tf2::Stamped<btVector3>& t_in, tf2::Stamped<btVector3>& t_out, const geometry_msgs::TransformStamped& transform)
void doTransform(const tf2::Stamped<btVector3>& t_in, tf2::Stamped<btVector3>& t_out, const geometry_msgs::msg::TransformStamped& transform)
{
t_out = tf2::Stamped<btVector3>(transformToBullet(transform) * t_in, transform.header.stamp, transform.header.frame_id);
t_out = tf2::Stamped<btVector3>(transformToBullet(transform) * t_in, tf2_ros::fromMsg(transform.header.stamp), transform.header.frame_id);
}

/** \brief Convert a stamped Bullet Vector3 type to a PointStamped message.
Expand All @@ -71,10 +71,10 @@ inline
* \return The vector converted to a PointStamped message.
*/
inline
geometry_msgs::PointStamped toMsg(const tf2::Stamped<btVector3>& in)
geometry_msgs::msg::PointStamped toMsg(const tf2::Stamped<btVector3>& in)
{
geometry_msgs::PointStamped msg;
msg.header.stamp = in.stamp_;
geometry_msgs::msg::PointStamped msg;
msg.header.stamp = tf2_ros::toMsg(in.stamp_);
msg.header.frame_id = in.frame_id_;
msg.point.x = in[0];
msg.point.y = in[1];
Expand All @@ -88,9 +88,9 @@ geometry_msgs::PointStamped toMsg(const tf2::Stamped<btVector3>& in)
* \param out The point converted to a timestamped Bullet Vector3.
*/
inline
void fromMsg(const geometry_msgs::PointStamped& msg, tf2::Stamped<btVector3>& out)
void fromMsg(const geometry_msgs::msg::PointStamped& msg, tf2::Stamped<btVector3>& out)
{
out.stamp_ = msg.header.stamp;
out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
out.frame_id_ = msg.header.frame_id;
out[0] = msg.point.x;
out[1] = msg.point.y;
Expand All @@ -106,9 +106,9 @@ void fromMsg(const geometry_msgs::PointStamped& msg, tf2::Stamped<btVector3>& ou
*/
template <>
inline
void doTransform(const tf2::Stamped<btTransform>& t_in, tf2::Stamped<btTransform>& t_out, const geometry_msgs::TransformStamped& transform)
void doTransform(const tf2::Stamped<btTransform>& t_in, tf2::Stamped<btTransform>& t_out, const geometry_msgs::msg::TransformStamped& transform)
{
t_out = tf2::Stamped<btTransform>(transformToBullet(transform) * t_in, transform.header.stamp, transform.header.frame_id);
t_out = tf2::Stamped<btTransform>(transformToBullet(transform) * t_in, tf2_ros::fromMsg(transform.header.stamp), transform.header.frame_id);
}


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2 changes: 1 addition & 1 deletion tf2_bullet/test/test_tf2_bullet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@


#include <tf2_bullet/tf2_bullet.h>
#include <ros/ros.h>
#include <rclcpp/rclcpp.hpp>
#include <gtest/gtest.h>
#include <tf2/convert.h>

Expand Down