Use ros2 time #67

sloretz · 2018-07-17T17:18:07Z

This is updating tf2_ros to use rclcpp::Time. The tf2_ros::Buffer class requires a clock to be passed into it's constructor. tf2_ros::Buffer also registers time jump handlers and clears itself instead of relying on tf2_ros::TransformListener to do it.

Todo

Change buffer_interface to use rclcpp::Time instead of tf2::TimePoint
Make it easy to covert between tf2::TimePoint and rclcpp::Time
Update all downstream code

sloretz · 2018-07-26T02:04:51Z

CI to check for breakages in other repos

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tfoote

A few small tweaks but otherwise lgtm

tfoote · 2018-07-26T02:57:30Z

tf2_ros/src/tf2_monitor.cpp

@@ -202,7 +205,7 @@ class TFMonitor
    if (using_specific_chain_)
    {
      auto tmp = buffer_.lookupTransform(framea_, frameb_, tf2::TimePointZero);
-      double diff = tf2::timeToSec(tf2::get_now()) - tf2_ros::timeToSec(tmp.header.stamp);
+      double diff = tf2_ros::timeToSec(clock_->now()) - tf2_ros::timeToSec(tmp.header.stamp);


It's better to do the diff of the Time datatypes then convert to seconds. ala ros/geometry2#310 It will keep the precision in the fixed point math.

could the diff be negative? if so we have to keep in mind that the subtraction of the Times will throw an exception in that case (might have been the reason for converting to seconds first)

It's ok if the diff is negative. The difference between Time objects is a Duration for which negative values are valid. It would only flow if the delta is larger than the maximum duration, plus or minus in which case it will except and overflow.

I have the wrong understanding about what's allowed for a Duration by the sounds of it: could we move the discussion to ros2/rclcpp#525?

tfoote · 2018-07-26T02:58:48Z

tf2_ros/src/tf2_monitor.cpp

@@ -77,7 +78,7 @@ class TFMonitor
    {
      frame_authority_map[message.transforms[i].child_frame_id] = authority;

-      double offset = tf2::timeToSec(tf2::get_now()) - tf2_ros::timeToSec(message.transforms[i].header.stamp);
+      double offset = tf2_ros::timeToSec(clock_->now()) - tf2_ros::timeToSec(message.transforms[i].header.stamp);


Differentiate in fixed point here too.

tfoote · 2018-07-26T03:09:22Z

tf2_ros/include/tf2_ros/buffer_interface.h

@@ -69,6 +69,12 @@ namespace tf2_ros
    return (s + std::chrono::duration_cast<std::chrono::duration<double>>(ns)).count();
  }

+  inline double timeToSec(const rclcpp::Time & rclcpp_time)


This would probably be better suited to be a method on the rclcpp::Time class similar to https://github.com/ros2/rclcpp/blob/master/rclcpp/include/rclcpp/time.hpp#L103 . Or at least not exposed publicly here.

Added rclcpp::Time::seconds() in ros2/rclcpp#526

wjwwood

I started reviewing, but others finished before me. I'll just post my one comment I had queued up...

wjwwood · 2018-07-25T23:48:10Z

tf2/include/tf2/time.h

+  };
+
+  //using Duration = std::chrono::nanoseconds;
+  //using TimePoint = std::chrono::time_point<std::chrono::system_clock, Duration>;


Should these comments be left here?

Here and below.

sloretz · 2018-08-08T15:08:26Z

CI

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sloretz · 2018-08-08T20:14:32Z

CI again

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sloretz · 2018-08-08T23:05:19Z

Thanks, for the reviews! Merging.

dhood · 2018-08-10T16:25:53Z

@sloretz could you update the turtlebot repos to adapt to these changes? https://ci.ros2.org/job/nightly_turtlebot-demo_linux_release/395/console#console-section-11

wjwwood · 2018-08-13T22:19:22Z

@sloretz if you need help with the changes to amcl (maybe others) w.r.t. this change let me know. We still have failing nightly jobs, as @dhood pointed out.

sloretz · 2018-08-14T18:26:23Z

@dhood @wjwwood Fixed in ros2/cartographer_ros#20 and ros2/navigation#33

IanTheEngineer · 2018-12-14T18:46:50Z

The API change for tf2::Buffer to use ROS2 Time warrants a migration note (and example usage) for Bouncy->Crystal

sloretz added the in review Waiting for review (Kanban column) label Jul 17, 2018

sloretz self-assigned this Jul 17, 2018

dirk-thomas requested a review from tfoote July 19, 2018 17:08

Buffer constructor accepts a clock

0207c54

sloretz force-pushed the use_ros2_time branch from 2880b8b to 0207c54 Compare July 26, 2018 01:52

sloretz added in progress Actively being worked on (Kanban column) and removed in review Waiting for review (Kanban column) labels Jul 26, 2018

sloretz mentioned this pull request Jul 26, 2018

Pass clock to tf2_ros::buffer ros2/rviz#340

Merged

tfoote requested changes Jul 26, 2018

View reviewed changes

dhood mentioned this pull request Jul 26, 2018

When can a Duration/Time be negative? ros2/rclcpp#525

Open

wjwwood reviewed Jul 26, 2018

View reviewed changes

sloretz mentioned this pull request Jul 27, 2018

Add rclcpp::Time::seconds() ros2/rclcpp#526

Merged

Use rclcpp::Time::seconds()

866ab00

initialize clock_ before buffer_

ccf1742

tfoote approved these changes Aug 8, 2018

View reviewed changes

sloretz added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Aug 8, 2018

sloretz merged commit 7dafb4d into ros2 Aug 8, 2018

sloretz deleted the use_ros2_time branch August 8, 2018 23:05

sloretz removed the in review Waiting for review (Kanban column) label Aug 8, 2018

This was referenced Aug 14, 2018

tf2_ros::Buffer requires a clock ros2/navigation#33

Merged

tf2_ros::Buffer requires a clock ros2/cartographer_ros#20

Merged

sloretz mentioned this pull request Sep 21, 2018

ROS2 time vs TF Time #5

Closed

dirk-thomas mentioned this pull request Sep 21, 2018

Functionality around time ros2/ros2#530

Closed

7 tasks

IanTheEngineer mentioned this pull request Dec 14, 2018

Update Release Documentation for tf2_ros::Buffer ros2/ros2_documentation#69

Merged

traversaro mentioned this pull request Nov 8, 2023

Cannot stream transforms via the frameTransformClient from Windows to Ubuntu because yarp::os::Time::now() is platform dependent robotology/yarp#3038

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Use ros2 time #67

Use ros2 time #67

sloretz commented Jul 17, 2018 •

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Use ros2 time #67

Use ros2 time #67

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sloretz commented Aug 8, 2018

sloretz commented Aug 8, 2018

sloretz commented Aug 8, 2018

dhood commented Aug 10, 2018

wjwwood commented Aug 13, 2018

sloretz commented Aug 14, 2018

IanTheEngineer commented Dec 14, 2018

sloretz commented Jul 17, 2018 •

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