Upgrade to tf2 #1
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tenzincrouch
reviewed
Oct 6, 2024
| transformationSensorToMap_ = tf2::transformToEigen(transformGeom); | ||
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| transformGeom = transformBuffer_.lookupTransform(generalParameters_.robotBaseFrameId_, sensorFrameId_, timeStamp, | ||
| ros::Duration(1.0)); // TODO(max): Why wrong direction? |
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@ecthelion99 - What is this TODO? Did you put it here or was it in existing code?
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These were all existing
tenzincrouch
reviewed
Oct 6, 2024
| translationBaseToSensorInBaseFrame_.toImplementation() = translationVector; | ||
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| transformGeom = transformBuffer_.lookupTransform(generalParameters_.mapFrameId_, generalParameters_.robotBaseFrameId_, | ||
| timeStamp, ros::Duration(1.0)); // TODO(max): Why wrong direction? |
tenzincrouch
reviewed
Oct 6, 2024
| transformListener_.lookupTransform(targetFrame, inputFrameId, timeStamp, transformTf); | ||
| } catch (tf::TransformException& ex) { | ||
| geometry_msgs::TransformStamped transformGeom; | ||
| transformGeom = transformBuffer_.lookupTransform(targetFrame, inputFrameId, timeStamp, ros::Duration(1.0)); // FIXME: missing 0.001 retry duration |
tenzincrouch
approved these changes
Oct 6, 2024
tenzincrouch
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tenzincrouch
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Changes look fine. Noted there are several TODO/Fixmes. Keen to understand what these are and why they are there better.
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Ok, it would be good to understand what limitations/bugs they describe so
that we dont have any surprises later.
Do you have any thoughts?
…On Sun, Oct 6, 2024 at 8:12 PM Taaj Street ***@***.***> wrote:
***@***.**** commented on this pull request.
------------------------------
In elevation_mapping/src/sensor_processors/SensorProcessorBase.cpp
<#1 (comment)>
:
> - Eigen::Affine3d transform;
- poseTFToEigen(transformTf, transform);
- rotationBaseToSensor_.setMatrix(transform.rotation().matrix());
- translationBaseToSensorInBaseFrame_.toImplementation() = transform.translation();
-
- transformListener_.lookupTransform(generalParameters_.mapFrameId_, generalParameters_.robotBaseFrameId_, timeStamp,
- transformTf); // TODO(max): Why wrong direction?
- poseTFToEigen(transformTf, transform);
- rotationMapToBase_.setMatrix(transform.rotation().matrix());
- translationMapToBaseInMapFrame_.toImplementation() = transform.translation();
+ geometry_msgs::TransformStamped transformGeom;
+ transformGeom = transformBuffer_.lookupTransform(generalParameters_.mapFrameId_, sensorFrameId_, timeStamp, ros::Duration(1.0));
+ transformationSensorToMap_ = tf2::transformToEigen(transformGeom);
+
+ transformGeom = transformBuffer_.lookupTransform(generalParameters_.robotBaseFrameId_, sensorFrameId_, timeStamp,
+ ros::Duration(1.0)); // TODO(max): Why wrong direction?
These were all existing
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In preparation for a ROS2 port, this PR upgrades to tf2 from tf. It is a rebase of ANYbotics#203 onto master. Built and tested on ROS Noetic.