nodelet_with_shared_tf_buffer.hpp File Reference

NodeletWithSharedTfBuffer allows you to use a tf2_ros::Buffer provided by the nodelet manager. More...

#include <memory>
#include <string>
#include <nodelet/nodelet.h>
#include <rosconsole/macros_generated.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <cras_cpp_common/nodelet_utils/nodelet_aware_tf_buffer.h>
#include "impl/nodelet_with_shared_tf_buffer.hpp"

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Classes
struct	cras::NodeletWithSharedTfBuffer< NodeletType >
	A nodelet mixin that allows to use a tf2_ros::Buffer provided by the nodelet manager (which should save some computations). If this nodelet has also the StatefulNodelet mixin, the automatically created non-shared buffer is nodelet-aware (you can also pass a NodeletAwareTfBuffer to setBuffer()). That means any TF lookups done via this->getBuffer() will be able to correctly end when the nodelet is being unloaded (which normally hangs: https://github.com/ros/geometry2/issues/381). More...
struct	cras::NodeletWithSharedTfBufferInterface
	Public non-template API of NodeletWithSharedTfBuffer. Dynamic_cast a nodelet to this type if you need to access this API publicly. More...

Namespaces
	cras
	cras::impl

Detailed Description

NodeletWithSharedTfBuffer allows you to use a tf2_ros::Buffer provided by the nodelet manager.

Author

Martin Pecka SPDX-License-Identifier: BSD-3-Clause SPDX-FileCopyrightText: Czech Technical University in Prague

Definition in file nodelet_with_shared_tf_buffer.hpp.