add implementation for cancel interface

[iuhilnehc-ynos]

to fix #703

Signed-off-by: Chen Lihui lihui.chen@sony.com

[iuhilnehc-ynos]

This PR is based on ros2/geometry2#490

[clalancette]

So I see that TFFrameTransformer::cancel calls TFWrapper::cancel, which then calls into tf2_ros::Buffer::cancel.

But what calls TFFrameTransform::cancel to begin with?

[iuhilnehc-ynos]

@clalancette

But what calls TFFrameTransform::cancel to begin with?

the cancel could also be called from destructor MessageFilter<>::~MessageFilter(), please refer to the following backtrace.

backtrace

(gdb) bt
#0  rviz_default_plugins::transformation::TFFrameTransformer::cancel(tf2_ros::TransformStampedFuture const&) (this=0x55555698ad80, ts_future=...)
    at /home/chenlh/Projects/ROS2/ros2-master/src/ros2/rviz/rviz_default_plugins/src/rviz_default_plugins/transformation/tf_frame_transformer.cpp:210
#1  0x00007ffedf42e110 in tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer>::clear() (this=0x555556aac460) at /home/chenlh/Projects/ROS2/ros2-master/install/include/tf2_ros/message_filter.h:342
#2  0x00007ffedf439cad in tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer>::~MessageFilter() (this=0x555556aac460, __in_chrg=<optimized out>)
    at /home/chenlh/Projects/ROS2/ros2-master/install/include/tf2_ros/message_filter.h:273
#3  0x00007ffedf4665bf in __gnu_cxx::new_allocator<tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer> >::destroy<tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer> >(tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer>*)
    (this=0x555556aac460, __p=0x555556aac460) at /usr/include/c++/9/ext/new_allocator.h:153
#4  0x00007ffedf45dc35 in std::allocator_traits<std::allocator<tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer> > >::destroy<tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer> >(std::allocator<tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer> >&, tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer>*) (__a=..., __p=0x555556aac460) at /usr/include/c++/9/bits/alloc_traits.h:497
#5  0x00007ffedf45b747 in std::_Sp_counted_ptr_inplace<tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer>, std::allocator<tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer> >, (__gnu_cxx::_Lock_policy)2>::_M_dispose() (this=0x555556aac450) at /usr/include/c++/9/bits/shared_ptr_base.h:557
#6  0x000055555555bea6 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() (this=0x555556aac450)
    at /usr/include/c++/9/bits/shared_ptr_base.h:155
#7  0x000055555555b835 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count() (this=0x7fffffffab48, __in_chrg=<optimized out>)
    at /usr/include/c++/9/bits/shared_ptr_base.h:730
#8  0x00007ffedf42cee0 in std::__shared_ptr<tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer>, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() (this=0x7fffffffab40, __in_chrg=<optimized out>)
    at /usr/include/c++/9/bits/shared_ptr_base.h:1169
#9  0x00007ffedf42df68 in std::__shared_ptr<tf2_ros::MessageFilter<geometry_msgs::msg::PolygonStamped_<std::allocator<void> >, rviz_common::transformation::FrameTransformer>, (__gnu_cxx::_Lock_policy)2>::reset() (this=0x555556a91d60) at /usr/include/c++/9/bits/shared_ptr_base.h:1287
#10 0x00007ffedf42d66c in rviz_common::MessageFilterDisplay<geometry_msgs::msg::PolygonStamped_<std::allocator<void> > >::unsubscribe() (this=
    0x555556a91c30) at /home/chenlh/Projects/ROS2/ros2-master/install/include/rviz_common/message_filter_display.hpp:166
#11 0x00007ffedf42ca49 in rviz_common::MessageFilterDisplay<geometry_msgs::msg::PolygonStamped_<std::allocator<void> > >::onDisable()
    (this=0x555556a91c30) at /home/chenlh/Projects/ROS2/ros2-master/install/include/rviz_common/message_filter_display.hpp:177
#12 0x00007ffff7e370b6 in rviz_common::Display::onEnableChanged() (this=0x555556a91c30)
    at /home/chenlh/Projects/ROS2/ros2-master/src/ros2/rviz/rviz_common/src/rviz_common/display.cpp:352
#13 0x00007ffff7e325e5 in rviz_common::DisplayGroup::onEnableChanged() (this=0x5555569ebca0)
    at /home/chenlh/Projects/ROS2/ros2-master/src/ros2/rviz/rviz_common/src/rviz_common/display_group.cpp:138
#14 0x00007ffff7dd26e2 in rviz_common::Display::qt_static_metacall(QObject*, QMetaObject::Call, int, void**)
<...>

NOTE:

• geometry2/tf2_ros/include/tf2_ros/message_filter.h

template<class M, class BufferT = tf2_ros::Buffer>
class MessageFilter 

The second template param BufferT can be either tf2_ros::Buffer or rviz_default_plugins::transformation::FrameTransformer.

• rviz/rviz_common/src/rviz_common/transformation/transformation_manager.cpp

rviz_common::transformation::TransformationManager::setTransformer
	to create rviz_default_plugins::transformation::TFFrameTransformer
	emit transformerChanged()

• rviz/rviz_common/include/rviz_common/message_filter_display.hpp

MessageFilterDisplay::subscribe
  tf_filter_ =
    std::make_shared<tf2_ros::MessageFilter<MessageType, transformation::FrameTransformer>>(
    *context_->getFrameManager()->getTransformer(),
    fixed_frame_.toStdString(),
    static_cast<uint32_t>(message_queue_property_->getInt()),
    rviz_ros_node_.lock()->get_raw_node());

MessageFilterDisplay::unsubscribe
  tf_filter_.reset();

[iuhilnehc-ynos]

CI:
Build args: --packages-above-and-dependencies tf2_ros rviz_common rviz_default_plugins
Test args: --packages-above tf2_ros rviz_common rviz_default_plugins

• Linux
• Linux-aarch64
• macOS
• Windows

[clalancette]

CI for this is over in ros2/geometry2#490

[ros-discourse]

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-2-tsc-meeting-2022-02-17/24435/1