Class TfHandler

Defined in File tf_utils.hpp

Class Documentation

class TfHandler

TfHandler class to handle the tf2_ros::Buffer and tf2_ros::TransformListener with ease inside a as2::Node class.

Public Functions

inline explicit TfHandler(as2::Node *_node)

Construct a new Tf Handler object.

Parameters:: _node – an as2::Node object

inline std::shared_ptr<tf2_ros::Buffer> getTfBuffer() const

Get the tf buffer object.

Returns:: std::shared_ptr<tf2_ros::Buffer>

geometry_msgs::msg::PointStamped convert(const geometry_msgs::msg::PointStamped &_point, const std::string &target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

convert a geometry_msgs::msg::PointStamped from one frame to another

Parameters:

_point – a geometry_msgs::msg::PointStamped
_target_frame – the target frame

Throws:

tf2::TransformException – if the transform is not available

Returns:

geometry_msgs::msg::PointStamped in the target frame

geometry_msgs::msg::PoseStamped convert(const geometry_msgs::msg::PoseStamped &_pose, const std::string &target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

convert a geometry_msgs::msg::PoseStamped from one frame to another

Parameters:

_pose – a geometry_msgs::msg::PoseStamped
_target_frame – the target frame

Throws:

tf2::TransformException – if the transform is not available

Returns:

geometry_msgs::msg::PoseStamped in the target frame

geometry_msgs::msg::TwistStamped convert(const geometry_msgs::msg::TwistStamped &_twist, const std::string &target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

convert a geometry_msgs::msg::TwistStamped from one frame to another (only the linear part will be converted, the angular part will be maintained)

Parameters:

_twist – a geometry_msgs::msg::TwistStamped
_target_frame – the target frame

Throws:

tf2::TransformException – if the transform is not available

Returns:

geometry_msgs::msg::TwistStamped in the target frame

geometry_msgs::msg::Vector3Stamped convert(const geometry_msgs::msg::Vector3Stamped &_vector, const std::string &target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

convert a geometry_msgs::msg::Vector3Stamped from one frame to another

Parameters:

_vector – a geometry_msgs::msg::Vector3Stamped
_target_frame – the target frame

Throws:

tf2::TransformException – if the transform is not available

Returns:

geometry_msgs::msg::Vector3Stamped in the target frame

nav_msgs::msg::Path convert(const nav_msgs::msg::Path &_path, const std::string &target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

convert a nav_msgs::msg::Path from one frame to another

Parameters:

_path – a nav_msgs::msg::Path
_target_frame – the target frame

Throws:

tf2::TransformException – if the transform is not available

Returns:

nav_msgs::msg::Path in the target frame

geometry_msgs::msg::QuaternionStamped convert(const geometry_msgs::msg::QuaternionStamped &_quaternion, const std::string &target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

convert a geometry_msgs::msg::QuaternionStamped from one frame to another

Parameters:

_quaternion – a geometry_msgs::msg::QuaternionStamped
_target_frame – the target frame

Throws:

tf2::TransformException – if the transform is not available

Returns:

geometry_msgs::msg::QuaternionStamped in the target frame

geometry_msgs::msg::PoseStamped getPoseStamped(const std::string &target_frame, const std::string &source_frame, const rclcpp::Time &time, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

obtain a PoseStamped from the TF_buffer

Parameters:

target_frame – the target frame
source_frame – the source frame
time – the time of the transform in Ros Time

Throws:

tf2::TransformException – if the transform is not available

Returns:

geometry_msgs::msg::PoseStamped

geometry_msgs::msg::PoseStamped getPoseStamped(const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time = tf2::TimePointZero, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

obtain a TransformStamped from the TF_buffer

Parameters:

target_frame – the target frame
source_frame – the source frame
time – the time of the transform in TimePoint

Throws:

tf2::TransformException – if the transform is not available

Returns:

geometry_msgs::msg::TransformStamped

geometry_msgs::msg::QuaternionStamped getQuaternionStamped(const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time = tf2::TimePointZero, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

obtain a TransformStamped from the TF_buffer

Parameters:

target_frame – the target frame
source_frame – the source frame
time – the time of the transform

Throws:

tf2::TransformException – if the transform is not available

Returns:

geometry_msgs::msg::QuaternionStamped

geometry_msgs::msg::QuaternionStamped getQuaternionStamped(const std::string &target_frame, const std::string &source_frame, const rclcpp::Time &time, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

obtain a TransformStamped from the TF_buffer

Parameters:

target_frame – the target frame
source_frame – the source frame
time – the time of the transform

Throws:

tf2::TransformException – if the transform is not available

Returns:

geometry_msgs::msg::QuaternionStamped

geometry_msgs::msg::TransformStamped getTransform(const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time = tf2::TimePointZero)

obtain a TransformStamped from the TF_buffer

Parameters:

target_frame – the target frame
source_frame – the source frame
time – the time of the transform

Throws:

tf2::TransformException – if the transform is not available

Returns:

geometry_msgs::msg::QuaternionStamped

bool tryConvert(geometry_msgs::msg::PointStamped &_point, const std::string &_target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

convert a geometry_msgs::msg::PointStamped to desired frame, checking if frames are valid

Parameters:

point – a geometry_msgs::msg::PointStamped to get converted
_target_frame – the target frame

Throws:

tf2::TransformException – if the transform is not available

Returns:

bool true if the conversion was successful

bool tryConvert(geometry_msgs::msg::PoseStamped &_pose, const std::string &_target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

convert a geometry_msgs::msg::PoseStamped to desired frame, checking if frames are valid

Parameters:

point – a geometry_msgs::msg::PoseStamped to get converted
_target_frame – the target frame

Throws:

tf2::TransformException – if the transform is not available

Returns:

bool true if the conversion was successful

bool tryConvert(geometry_msgs::msg::TwistStamped &_twist, const std::string &_target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

convert a geometry_msgs::msg::TwistStamped to desired frame, checking if frames are valid

Parameters:

point – a geometry_msgs::msg::TwistStamped to get converted
_target_frame – the target frame

Throws:

tf2::TransformException – if the transform is not available

Returns:

bool true if the conversion was successful

bool tryConvert(geometry_msgs::msg::QuaternionStamped &_quaternion, const std::string &_target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

Get the pose and twist of the UAV at the given twist timestamp, in the given frames.

Parameters:

_twist –
_twist_target_frame –
_pose_target_frame –
_pose_source_frame –
_timeout –

Returns:

std::pair<geometry_msgs::msg::PoseStamped, geometry_msgs::msg::TwistStamped>

std::pair<geometry_msgs::msg::PoseStamped, geometry_msgs::msg::TwistStamped> getState(const geometry_msgs::msg::TwistStamped &_twist, const std::string &_twist_target_frame, const std::string &_pose_target_frame, const std::string &_pose_source_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)

convert a geometry_msgs::msg::QuaternionStamped to desired frame, checking if frames are valid

Parameters:

_quaternion – a geometry_msgs::msg::QuaternionStamped to get converted
_target_frame – the target frame

Throws:

tf2::TransformException – if the transform is not available

Returns:

bool true if the conversion was successful