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Fix for static transforms - and miscellanea #54

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merged 1 commit into from
Jun 7, 2023
Merged

Fix for static transforms - and miscellanea #54

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22 changes: 7 additions & 15 deletions src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,11 +54,13 @@ bool FrameTransformGet_nwc_ros2::open(yarp::os::Searchable& config)
m_subscriptionFtTimed = m_node->create_subscription<tf2_msgs::msg::TFMessage>(m_ftTopic, 10,
std::bind(&FrameTransformGet_nwc_ros2::frameTransformTimedGet_callback,
this, _1));
m_subscriptionFtStatic = m_node->create_subscription<tf2_msgs::msg::TFMessage>(m_ftTopicStatic, 10,

rclcpp::QoS qos(10);
qos = qos.transient_local(); // This line and the previous are needed to reestablish the "latched" behaviour for the subscriptio
m_subscriptionFtStatic = m_node->create_subscription<tf2_msgs::msg::TFMessage>(m_ftTopicStatic, qos,
std::bind(&FrameTransformGet_nwc_ros2::frameTransformStaticGet_callback,
this, _1));


m_spinner = new Ros2Spinner(m_node);
m_spinner->start();

Expand Down Expand Up @@ -89,28 +91,18 @@ bool FrameTransformGet_nwc_ros2::getTransforms(std::vector<yarp::math::FrameTran

void FrameTransformGet_nwc_ros2::frameTransformTimedGet_callback(const tf2_msgs::msg::TFMessage::SharedPtr msg)
{
std::lock_guard<std::mutex> lock(m_trf_mutex);
yCTrace(FRAMETRANSFORGETNWCROS2);
updateBuffer(msg->transforms,false);
}

void FrameTransformGet_nwc_ros2::frameTransformStaticGet_callback(const tf2_msgs::msg::TFMessage::SharedPtr msg)
{
std::lock_guard<std::mutex> lock(m_trf_mutex);
yCTrace(FRAMETRANSFORGETNWCROS2);
updateBuffer(msg->transforms,true);
}

double FrameTransformGet_nwc_ros2::yarpStampFromROS2(const builtin_interfaces::msg::Time& ros2Time)
{
double yarpTime;
double sec_part;
double nsec_part;
sec_part = (double)ros2Time.sec;
nsec_part = ((double)ros2Time.nanosec)/1000000000.0;
yarpTime = sec_part+nsec_part;

return yarpTime;
}

void FrameTransformGet_nwc_ros2::ros2TransformToYARP(const geometry_msgs::msg::TransformStamped& input, yarp::math::FrameTransform& output, bool isStatic)
{
output.translation.tX = input.transform.translation.x;
Expand All @@ -122,7 +114,7 @@ void FrameTransformGet_nwc_ros2::ros2TransformToYARP(const geometry_msgs::msg::T
output.rotation.y() = input.transform.rotation.y;
output.rotation.z() = input.transform.rotation.z;

output.timestamp = yarpStampFromROS2(input.header.stamp);
output.timestamp = yarpTimeFromRos2(input.header.stamp);
output.src_frame_id = input.header.frame_id;
output.dst_frame_id = input.child_frame_id;
output.isStatic = isStatic;
Expand Down
1 change: 0 additions & 1 deletion src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.h
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,6 @@ class FrameTransformGet_nwc_ros2 :
void frameTransformStaticGet_callback(const tf2_msgs::msg::TFMessage::SharedPtr msg);

//own
double yarpStampFromROS2(const builtin_interfaces::msg::Time& ros2Time);
void ros2TransformToYARP(const geometry_msgs::msg::TransformStamped& input, yarp::math::FrameTransform& output, bool isStatic);
bool updateBuffer(const std::vector<geometry_msgs::msg::TransformStamped>& transforms, bool areStatic);
bool setTransform(const yarp::math::FrameTransform& transform);
Expand Down