tf2.h

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#pragma once
 
#ifdef ROS2 /**********************************************************************************************************/
 
#define TF2_BUFFER_CTOR_ARGS(nh) nh->get_clock_interface()->get_clock()
 
inline std::unique_ptr<tf2_ros::Buffer> make_tf2_buffer(ensenso::ros::NodeHandle const& nh)
{
  return ensenso::std::make_unique<tf2_ros::Buffer>(TF2_BUFFER_CTOR_ARGS(nh));
}
 
inline std::unique_ptr<tf2_ros::TransformBroadcaster> make_tf2_broadcaster(ensenso::ros::NodeHandle const& nh)
{
  return ensenso::std::make_unique<tf2_ros::TransformBroadcaster>(nh->node());
}
 
#else /***ROS1*********************************************************************************************************/
#define TF2_BUFFER_CTOR_ARGS(nh)
 
inline std::unique_ptr<tf2_ros::Buffer> make_tf2_buffer(ensenso::ros::NodeHandle const& nh)
{
  return ensenso::std::make_unique<tf2_ros::Buffer>();
}
 
inline std::unique_ptr<tf2_ros::TransformBroadcaster> make_tf2_broadcaster(ensenso::ros::NodeHandle const& nh)
{
  return ensenso::std::make_unique<tf2_ros::TransformBroadcaster>();
}
#endif