Action client-based implementation of the tf2_ros::BufferInterface abstract data type. More...

#include <buffer_client.h>

Inheritance diagram for tf2_ros::BufferClient:

Public Types
typedef actionlib::SimpleActionClient < tf2_msgs::LookupTransformAction >	LookupActionClient
Public Member Functions
	BufferClient (std::string ns, double check_frequency=10.0, ros::Duration timeout_padding=ros::Duration(2.0))
	BufferClient constructor.
virtual bool	canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout=ros::Duration(0.0), std::string *errstr=NULL) const
	Test if a transform is possible.
virtual bool	canTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, const ros::Duration timeout=ros::Duration(0.0), std::string *errstr=NULL) const
	Test if a transform is possible.
virtual geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout=ros::Duration(0.0)) const
	Get the transform between two frames by frame ID.
virtual geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, const ros::Duration timeout=ros::Duration(0.0)) const
	Get the transform between two frames by frame ID assuming fixed frame.
bool	waitForServer (const ros::Duration &timeout=ros::Duration(0))
	Block until the action server is ready to respond to requests.
Private Member Functions
geometry_msgs::TransformStamped	processGoal (const tf2_msgs::LookupTransformGoal &goal) const
geometry_msgs::TransformStamped	processResult (const tf2_msgs::LookupTransformResult &result) const
Private Attributes
double	check_frequency_
LookupActionClient	client_
ros::Duration	timeout_padding_

Detailed Description

Action client-based implementation of the tf2_ros::BufferInterface abstract data type.

BufferClient uses actionlib to coordinate waiting for available transforms.

You can use this class with a tf2_ros::BufferServer and tf2_ros::TransformListener in a separate process.

Definition at line 52 of file buffer_client.h.

Member Typedef Documentation

typedef actionlib::SimpleActionClient<tf2_msgs::LookupTransformAction> tf2_ros::BufferClient::LookupActionClient

Definition at line 55 of file buffer_client.h.

Constructor & Destructor Documentation

tf2_ros::BufferClient::BufferClient	(	std::string	ns,
		double	check_frequency = `10.0`,
		ros::Duration	timeout_padding = `ros::Duration(2.0)`
	)

BufferClient constructor.

Parameters:

ns	The namespace in which to look for a BufferServer
check_frequency	The frequency in Hz to check whether the BufferServer has completed a request
timeout_padding	The amount of time to allow passed the desired timeout on the client side for communication lag

Definition at line 41 of file buffer_client.cpp.

Member Function Documentation

bool tf2_ros::BufferClient::canTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		const ros::Duration	timeout = `ros::Duration(0.0)`,
		std::string *	errstr = `NULL`
	)		const `[virtual]`

Test if a transform is possible.

Parameters:

target_frame	The frame into which to transform
source_frame	The frame from which to transform
time	The time at which to transform
timeout	How long to block before failing
errstr	A pointer to a string which will be filled with why the transform failed, if not NULL

Returns:: True if the transform is possible, false otherwise

Implements tf2_ros::BufferInterface.

Definition at line 132 of file buffer_client.cpp.

bool tf2_ros::BufferClient::canTransform	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	source_frame,
		const ros::Time &	source_time,
		const std::string &	fixed_frame,
		const ros::Duration	timeout = `ros::Duration(0.0)`,
		std::string *	errstr = `NULL`
	)		const `[virtual]`

Test if a transform is possible.

Parameters:

target_frame	The frame into which to transform
target_time	The time into which to transform
source_frame	The frame from which to transform
source_time	The time from which to transform
fixed_frame	The frame in which to treat the transform as constant in time
timeout	How long to block before failing
errstr	A pointer to a string which will be filled with why the transform failed, if not NULL

Returns:: True if the transform is possible, false otherwise

Implements tf2_ros::BufferInterface.

Definition at line 151 of file buffer_client.cpp.

geometry_msgs::TransformStamped tf2_ros::BufferClient::lookupTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		const ros::Duration	timeout = `ros::Duration(0.0)`
	)		const `[virtual]`

Get the transform between two frames by frame ID.

Parameters:

target_frame	The frame to which data should be transformed
source_frame	The frame where the data originated
time	The time at which the value of the transform is desired. (0 will get the latest)
timeout	How long to block before failing

Returns:: The transform between the frames

Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException

Implements tf2_ros::BufferInterface.

Definition at line 48 of file buffer_client.cpp.

geometry_msgs::TransformStamped tf2_ros::BufferClient::lookupTransform	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	source_frame,
		const ros::Time &	source_time,
		const std::string &	fixed_frame,
		const ros::Duration	timeout = `ros::Duration(0.0)`
	)		const `[virtual]`

Get the transform between two frames by frame ID assuming fixed frame.

Parameters:

target_frame	The frame to which data should be transformed
target_time	The time to which the data should be transformed. (0 will get the latest)
source_frame	The frame where the data originated
source_time	The time at which the source_frame should be evaluated. (0 will get the latest)
fixed_frame	The frame in which to assume the transform is constant in time.
timeout	How long to block before failing