use node interfaces throughout tf2_ros by Karsten1987 · Pull Request #108 · ros2/geometry2

Karsten1987 · 2019-05-08T06:47:35Z

this PR is based on #100 and rebased on top of current ros2 master.

It is using the node interfaces consistently throughout the static_transform_broadcaster, transform_broadcaster and transform_listener.

this should fix, provide solutions for lifecycle nodes. See #94 and #70

In the TransformListener class, use node interfaces instead of using the node directly so that the code works with either rclcpp::Node or rclcpp_lifecycle::LifecycleNode. Retain the existing node-based interface for backwards compatibility.

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 · 2019-05-09T03:06:05Z

Linux
Linux-aarch64
macOS
Windows

Karsten1987 · 2019-05-09T15:08:58Z

new round of CI:

Linux
Linux-aarch64
macOS
Windows

@tfoote @wjwwood This needs a re-review given that we had to change a fair amount of code while rebasing this PR on top of master.

tf2_ros/include/tf2_ros/transform_listener.h

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 · 2019-05-09T19:31:15Z

new round of CI:

Linux
Linux-aarch64
macOS
Windows

it looks like std::shared_from_this() doesn't go well with std::forward. Not exactly sure why the template deduction failed here, but removing the perfect forwarding solved it on my machine.

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 · 2019-05-09T20:49:14Z

Windows again:

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 · 2019-05-09T21:14:33Z

So the callback also has to be public:
Windows again:

wjwwood · 2019-05-09T22:26:36Z

tf2_ros/include/tf2_ros/static_transform_broadcaster.h

+      rclcpp::PublisherOptionsWithAllocator<AllocatorT>())
  {
-    auto qos = rclcpp::QoS(rclcpp::KeepLast(100));
-    // TODO(tfoote) latched equivalent


Make it latched or leave the TODO. @tfoote do you have any input?

just for completeness: rclcpp::QoS(rclcpp::KeepLast(100)) is not the same as rclcpp::QoS(100)? Should be default to keep last then?

It is the same.

Also, at least restore the TODO until @tfoote can respond.

tf2_ros/test/listener_unittest.cpp

wjwwood · 2019-05-09T22:30:12Z

tf2_ros/test/test_static_transform_broadcaster.cpp

+
+  void init_tf_broadcaster()
+  {
+    tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(shared_from_this());


Can you not pass this here? and therefore do it in the constructor?

the reason why I do this specific test is that the original version with std::forward<NodeT>(node) failed when passing in a shared pointer to node.
see here:

15:41:38 from /home/jenkins-agent/workspace/ci_linux/ws/src/ros2/rviz/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_visual_test.cpp:37: 15:41:38 /home/jenkins-agent/workspace/ci_linux/ws/install/tf2_ros/include/tf2_ros/transform_broadcaster.h:58:68: error: cannot bind non-const lvalue reference of type ‘std::shared_ptr<rclcpp::Node>&’ to an rvalue of type ‘std::shared_ptr<rclcpp::Node>’ 15:41:38 publisher_ = rclcpp::create_publisher<tf2_msgs::msg::TFMessage>( 15:41:38 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^ 15:41:38 std::forward<NodeT>(node), "/tf", qos, options);

So this test is mimicking the behavior applied in the rviz default plugin.

I mean why not pass this (or *this), not shared_from_this(). rclcpp::create_publisher<>(*this, ...) should work I think.

We can follow up on that later, but otherwise this code would not work:

https://github.com/ros2/rclcpp/blob/ef41059a751702274667e2164182c062b47c453d/rclcpp/include/rclcpp/node_impl.hpp#L75

tf2_ros/test/test_transform_broadcaster.cpp

tf2_ros/test/test_static_transform_broadcaster.cpp

tf2_ros/test/test_transform_broadcaster.cpp

tf2_ros/test/test_transform_listener.cpp

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

wjwwood

lgtm, for merge as-is. There was a follow up that would be interesting to test, but it can come later.

Karsten1987 · 2019-05-09T23:47:46Z

given the changes, I run a CI job once more:

Linux
Linux-aarch64
macOS unrelated test failures
Windows

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 added the in review Waiting for review (Kanban column) label May 8, 2019

Karsten1987 self-assigned this May 8, 2019

Karsten1987 changed the title ~~Karsten1987/fix tf listener~~ use node interfaces throughout tf2_ros May 8, 2019

Karsten1987 mentioned this pull request May 8, 2019

Use node interface pointers in the TransformListener class #100

Closed

Lalit Begani and others added 3 commits May 8, 2019 17:27

Format code based on ament_cpplint and ament_uncrustify

ccc4bb2

use node interfaces consistently

6e1a315

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

tfoote approved these changes May 9, 2019

View reviewed changes

adher to new rclcpp API

48dedcf

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 force-pushed the karsten1987/fix-tf-listener branch from 87c25e2 to 48dedcf Compare May 9, 2019 03:04

dirk-thomas added the enhancement New feature or request label May 9, 2019

allenh1 reviewed May 9, 2019

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tf2_ros/include/tf2_ros/transform_listener.h Show resolved Hide resolved

Karsten1987 force-pushed the karsten1987/fix-tf-listener branch from ec68a93 to ff4e97b Compare May 9, 2019 19:26

remove std::forward

68d5597

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 force-pushed the karsten1987/fix-tf-listener branch from ff4e97b to 68d5597 Compare May 9, 2019 19:29

export symbols for windows

1a2f733

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

callback also has to be public

4c0835d

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

wjwwood reviewed May 9, 2019

View reviewed changes

Karsten1987 added 2 commits May 9, 2019 15:47

address review

5fa528d

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

refactor node wrapper class

49dfa0f

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

wjwwood approved these changes May 9, 2019

View reviewed changes

restore latched todo

f9dbe3d

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

wjwwood approved these changes May 9, 2019

View reviewed changes

Karsten1987 merged commit db7493c into ros2 May 10, 2019

delete-merged-branch bot deleted the karsten1987/fix-tf-listener branch May 10, 2019 00:58

Karsten1987 removed the in review Waiting for review (Kanban column) label May 10, 2019

tfoote mentioned this pull request May 13, 2019

Store dedicated transform listener thread as a std::unique_ptr #111

Merged

cottsay mentioned this pull request May 21, 2019

Use node interfaces in Updater class ros/diagnostics#111

Closed

Karsten1987 mentioned this pull request May 21, 2019

Added support for LifecycleNode to TransformBroadcaster and `Stat… #79

Closed

Karsten1987 mentioned this pull request Jul 17, 2019

ROS2 - tf2_ros::TransformBroadcaster and rclcpp_lifecycle::LifecycleNode #70

Closed

kurshakuz mentioned this pull request Sep 19, 2021

LifecycleNode support for tf2_ros::TransformListener #94

Closed

JohnTGZ mentioned this pull request Aug 25, 2022

Adding support for lifecycle nodes moveit/moveit2#1538

Open

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