Add Tf2 versions of lookupTransform, lookupVelocity, setTransform #728
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Signed-off-by: kyle-basis <[email protected]>
ahcorde
requested changes
Nov 12, 2024
tf2/include/tf2/buffer_core.h
Outdated
| TF2_PUBLIC | ||
| geometry_msgs::msg::VelocityStamped lookupVelocity( | ||
| const std::string & tracking_frame, const std::string & observation_frame, | ||
| const TimePoint & time, const tf2::Duration & averaging_interval) const; | ||
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| /** \brief Lookup the velocity of the moving_frame in the reference_frame | ||
| * \param reference_frame The frame in which to track |
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Only test fails are due to linting - do y'all have a script to fix this automatically? |
I think you can run |
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Linting fixed - not sure why tf2_rospy is failing on jenkins, though |
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This PR implements #726 - see there for initial discussion.
Some notes:
*Tf2.lookupVelocity- tf2 doesn't have a dual vector type that I can find, and I didn't really want to implement a newVelocityfor this PR. I'm happy to back that part of the change out - the function can be moved wholesale intotf2_roswhen the time comes, instead, as it's not part ofBufferCoreInterface.toMsginto one reimplementation - it really shows that the interface is wrong here in the first place - the helper methods that should be used would cause a depedency loop.child_frame_id- I think I did the correct thing, but it might be worth introducing somehow.I'm unable to actually run the tests - I get an error oncolcon build