buffer_client.cpp
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35 * Author: Eitan Marder-Eppstein
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37 #include <tf2_ros/buffer_client.h>
38 
39 namespace tf2_ros
40 {
41  BufferClient::BufferClient(std::string ns, double check_frequency, ros::Duration timeout_padding):
42  client_(ns),
43  check_frequency_(check_frequency),
44  timeout_padding_(timeout_padding)
45  {
46  }
47 
48  geometry_msgs::TransformStamped BufferClient::lookupTransform(const std::string& target_frame, const std::string& source_frame,
49  const ros::Time& time, const ros::Duration timeout) const
50  {
51  //populate the goal message
52  tf2_msgs::LookupTransformGoal goal;
53  goal.target_frame = target_frame;
54  goal.source_frame = source_frame;
55  goal.source_time = time;
56  goal.timeout = timeout;
57  goal.advanced = false;
58 
59  return processGoal(goal);
60  }
61 
62  geometry_msgs::TransformStamped BufferClient::lookupTransform(const std::string& target_frame, const ros::Time& target_time,
63  const std::string& source_frame, const ros::Time& source_time,
64  const std::string& fixed_frame, const ros::Duration timeout) const
65  {
66  //populate the goal message
67  tf2_msgs::LookupTransformGoal goal;
68  goal.target_frame = target_frame;
69  goal.source_frame = source_frame;
70  goal.source_time = source_time;
71  goal.timeout = timeout;
72  goal.target_time = target_time;
73  goal.fixed_frame = fixed_frame;
74  goal.advanced = true;
75 
76  return processGoal(goal);
77  }
78 
79  geometry_msgs::TransformStamped BufferClient::processGoal(const tf2_msgs::LookupTransformGoal& goal) const
80  {
81  client_.sendGoal(goal);
82 
83  //this shouldn't happen, but could in rare cases where the server hangs
84  if(!client_.waitForResult(goal.timeout + timeout_padding_))
85  {
86  //make sure to cancel the goal the server is pursuing
87  client_.cancelGoal();
88  throw tf2::TimeoutException("The LookupTransform goal sent to the BufferServer did not come back in the specified time. Something is likely wrong with the server.");
89  }
90 
91  if(client_.getState() != actionlib::SimpleClientGoalState::SUCCEEDED)
92  throw tf2::TimeoutException("The LookupTransform goal sent to the BufferServer did not come back with SUCCEEDED status. Something is likely wrong with the server.");
93 
94  //process the result for errors and return it
95  return processResult(*client_.getResult());
96  }
97 
98  geometry_msgs::TransformStamped BufferClient::processResult(const tf2_msgs::LookupTransformResult& result) const
99  {
100  //if there's no error, then we'll just return the transform
101  if(result.error.error != result.error.NO_ERROR){
102  //otherwise, we'll have to throw the appropriate exception
103  if(result.error.error == result.error.LOOKUP_ERROR)
104  throw tf2::LookupException(result.error.error_string);
105 
106  if(result.error.error == result.error.CONNECTIVITY_ERROR)
107  throw tf2::ConnectivityException(result.error.error_string);
108 
109  if(result.error.error == result.error.EXTRAPOLATION_ERROR)
110  throw tf2::ExtrapolationException(result.error.error_string);
111 
112  if(result.error.error == result.error.INVALID_ARGUMENT_ERROR)
113  throw tf2::InvalidArgumentException(result.error.error_string);
114 
115  if(result.error.error == result.error.TIMEOUT_ERROR)
116  throw tf2::TimeoutException(result.error.error_string);
117 
118  throw tf2::TransformException(result.error.error_string);
119  }
120 
121  return result.transform;
122  }
123 
124  bool BufferClient::canTransform(const std::string& target_frame, const std::string& source_frame,
125  const ros::Time& time, const ros::Duration timeout, std::string* errstr) const
126  {
127  try
128  {
129  lookupTransform(target_frame, source_frame, time, timeout);
130  return true;
131  }
132  catch(tf2::TransformException& ex)
133  {
134  if(errstr)
135  {
136  errstr->clear();
137  *errstr = ex.what();
138  }
139  return false;
140  }
141  }
142 
143  bool BufferClient::canTransform(const std::string& target_frame, const ros::Time& target_time,
144  const std::string& source_frame, const ros::Time& source_time,
145  const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr) const
146  {
147  try
148  {
149  lookupTransform(target_frame, target_time, source_frame, source_time, fixed_frame, timeout);
150  return true;
151  }
152  catch(tf2::TransformException& ex)
153  {
154  if(errstr)
155  {
156  errstr->clear();
157  *errstr = ex.what();
158  }
159  return false;
160  }
161  }
162 };
tf2_ros::BufferClient::BufferClient
BufferClient(std::string ns, double check_frequency=10.0, ros::Duration timeout_padding=ros::Duration(2.0))
BufferClient constructor.
Definition: buffer_client.cpp:76
tf2::TimeoutException
tf2_ros
Definition: buffer.h:42
buffer_client.h
tf2::ExtrapolationException
actionlib::SimpleClientGoalState::SUCCEEDED
SUCCEEDED
tf2::LookupException
tf2::ConnectivityException
ros::Time
tf2::InvalidArgumentException
tf2::TransformException
ros::Duration


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Wed May 12 2021 15:52:49