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. More...

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. More...

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. More...

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. More...

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. More...

bool	waitForServer (const ros::Duration &timeout=ros::Duration(0))
	Block until the action server is ready to respond to requests. More...

Public Member Functions inherited from tf2_ros::BufferInterface
template<class T >
T &	transform (const T &in, T &out, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). More...

template<class T >
T	transform (const T &in, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). More...

template<class A , class B >
B &	transform (const A &in, B &out, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame and convert to a specified output type. It is templated on two types: the type of the input object and the type of the transformed output. For example, the template types could be Transform, Pose, Vector, or Quaternion messages type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. More...

template<class T >
T &	transform (const T &in, T &out, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More...

template<class T >
T	transform (const T &in, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More...

template<class A , class B >
B &	transform (const A &in, B &out, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame and convert to a specified output type (advanced). It is templated on two types: the type of the input object and the type of the transformed output. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More...

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

◆ LookupActionClient

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

Definition at line 55 of file buffer_client.h.

Constructor & Destructor Documentation

◆ BufferClient()

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	Deprecated, not used anymore
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

◆ canTransform() [1/2]

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 124 of file buffer_client.cpp.

◆ canTransform() [2/2]

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 143 of file buffer_client.cpp.

◆ lookupTransform() [1/2]

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.

◆ lookupTransform() [2/2]

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

Returns: The transform between the frames

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

Implements tf2_ros::BufferInterface.

Definition at line 62 of file buffer_client.cpp.

◆ processGoal()

geometry_msgs::TransformStamped tf2_ros::BufferClient::processGoal ( const tf2_msgs::LookupTransformGoal & goal ) const

private

Definition at line 79 of file buffer_client.cpp.

◆ processResult()

geometry_msgs::TransformStamped tf2_ros::BufferClient::processResult ( const tf2_msgs::LookupTransformResult & result ) const

private

Definition at line 98 of file buffer_client.cpp.

◆ waitForServer()

bool tf2_ros::BufferClient::waitForServer ( const ros::Duration & timeout = ros::Duration(0) )

inline

Block until the action server is ready to respond to requests.

Parameters

timeout Time to wait for the server.

Returns: True if the server is ready, false otherwise.

Definition at line 126 of file buffer_client.h.

Member Data Documentation

◆ check_frequency_

double tf2_ros::BufferClient::check_frequency_

private

Definition at line 135 of file buffer_client.h.

◆ client_

LookupActionClient tf2_ros::BufferClient::client_

mutableprivate

Definition at line 134 of file buffer_client.h.

◆ timeout_padding_

ros::Duration tf2_ros::BufferClient::timeout_padding_

private

Definition at line 136 of file buffer_client.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ LookupActionClient

Constructor & Destructor Documentation

◆ BufferClient()

Member Function Documentation

◆ canTransform() [1/2]

◆ canTransform() [2/2]

◆ lookupTransform() [1/2]

◆ lookupTransform() [2/2]

◆ processGoal()

◆ processResult()

◆ waitForServer()

Member Data Documentation

◆ check_frequency_

◆ client_

◆ timeout_padding_