A node that remaps TF frame names according to the given set of rules. More...

#include <tf_remapper_node.h>

Public Member Functions
	TfRemapperNode ()

virtual	~TfRemapperNode ()

Protected Member Functions
void	addToStaticTfCache (const tf2_msgs::TFMessage &message, tf2_msgs::TFMessage &cache) const
	Add the given TF message to the static TF cache. Newer TFs overwrite the older ones. More...

void	oldTfCallback (const ros::MessageEvent< tf2_msgs::TFMessage const > &event)
	The remapper that actually changes the TF messages in reverse direction. More...

void	remappedTfCallback (const ros::MessageEvent< tf2_msgs::TFMessage const > &event)
	Callback when a TF message arrives on the remapped TF topic. More...

Protected Attributes
ros::Publisher	oldTfPublisher
	Publisher of /tf. More...

ros::Subscriber	oldTfSubscriber
	Private ROS node handle. More...

std::string	oldTfTopic
	Cache of static TF messages in the reverse direction. More...

ros::NodeHandle	privateNodeHandle
	ROS node handle. More...

ros::NodeHandle	publicNodeHandle

ros::Publisher	remappedTfPublisher
	Subscriber to /tf (only in bidirectional mode). More...

ros::Subscriber	remappedTfSubscriber
	Subscriber to /tf_old. More...

std::string	remappedTfTopic
	Name of the old topic ("/tf_old"). More...

tf2_msgs::TFMessage	reverseStaticTfCache
	Cache of static TF messages. More...

TfRemapper	reverseTfRemapper
	The remapper that actually changes the TF messages. More...

bool	staticTf
	Publisher of /tf_old (only in bidirectional mode). More...

tf2_msgs::TFMessage	staticTfCache
	If true, this node works with static TF, which need special care. More...

TfRemapper	tfRemapper
	Name of the remapped topic ("/tf"). More...

Detailed Description

A node that remaps TF frame names according to the given set of rules.

Parameters:

mappings (array of dicts): The rules for TF frame name remapping, e.g. [{"old": "b", "new": "d"}]
static_tf (bool): Whether the remapper acts on static TFs or not. If not set, it is autodetected from topic name.
old_tf_topic_name (string, default '/tf_old'): The topic on which old TFs are subscribed.
new_tf_topic_name (string, default '/tf'): The topic on which remapped TFs are published.
is_bidirectional (bool, default False): If True, the remapper will also allow passing TFs published on the "remapped end" to the "old end". Pay special attention if you use any kind of multimaster solution or a custom topic transport. This node needs CallerIDs to be unchanged.

Definition at line 23 of file tf_remapper_node.h.

Constructor & Destructor Documentation

◆ TfRemapperNode()

tf_remapper_cpp::TfRemapperNode::TfRemapperNode ( )

Start the node.

Exceptions

ros::InvalidParameterException if the 'mappings' parameter has invalid value.

Definition at line 4 of file tf_remapper_node.cpp.

◆ ~TfRemapperNode()

virtual tf_remapper_cpp::TfRemapperNode::~TfRemapperNode ( )

inlinevirtual

Definition at line 29 of file tf_remapper_node.h.

Member Function Documentation

◆ addToStaticTfCache()

void tf_remapper_cpp::TfRemapperNode::addToStaticTfCache	(	const tf2_msgs::TFMessage &	message,
		tf2_msgs::TFMessage &	cache
	)		const

protected

Add the given TF message to the static TF cache. Newer TFs overwrite the older ones.

Parameters

message	The message to add.
cache	The cache to update.

Definition at line 102 of file tf_remapper_node.cpp.

◆ oldTfCallback()

void tf_remapper_cpp::TfRemapperNode::oldTfCallback ( const ros::MessageEvent< tf2_msgs::TFMessage const > & event )

protected

The remapper that actually changes the TF messages in reverse direction.

Callback when a TF message arrives on the old TF topic.

Parameters

event The TF message.

Definition at line 66 of file tf_remapper_node.cpp.

◆ remappedTfCallback()

void tf_remapper_cpp::TfRemapperNode::remappedTfCallback ( const ros::MessageEvent< tf2_msgs::TFMessage const > & event )

protected

Callback when a TF message arrives on the remapped TF topic.

Parameters

event The TF message.

Definition at line 84 of file tf_remapper_node.cpp.

Member Data Documentation

◆ oldTfPublisher

ros::Publisher tf_remapper_cpp::TfRemapperNode::oldTfPublisher

protected

Publisher of /tf.

Definition at line 37 of file tf_remapper_node.h.

◆ oldTfSubscriber

ros::Subscriber tf_remapper_cpp::TfRemapperNode::oldTfSubscriber

protected

Private ROS node handle.

Definition at line 34 of file tf_remapper_node.h.

◆ oldTfTopic

std::string tf_remapper_cpp::TfRemapperNode::oldTfTopic

protected

Cache of static TF messages in the reverse direction.

Definition at line 43 of file tf_remapper_node.h.

◆ privateNodeHandle

ros::NodeHandle tf_remapper_cpp::TfRemapperNode::privateNodeHandle

protected

ROS node handle.

Definition at line 33 of file tf_remapper_node.h.

◆ publicNodeHandle

ros::NodeHandle tf_remapper_cpp::TfRemapperNode::publicNodeHandle

protected

Definition at line 29 of file tf_remapper_node.h.

◆ remappedTfPublisher

ros::Publisher tf_remapper_cpp::TfRemapperNode::remappedTfPublisher

protected

Subscriber to /tf (only in bidirectional mode).

Definition at line 36 of file tf_remapper_node.h.

◆ remappedTfSubscriber

ros::Subscriber tf_remapper_cpp::TfRemapperNode::remappedTfSubscriber

protected

Subscriber to /tf_old.

Definition at line 35 of file tf_remapper_node.h.

◆ remappedTfTopic

std::string tf_remapper_cpp::TfRemapperNode::remappedTfTopic

protected

Name of the old topic ("/tf_old").

Definition at line 44 of file tf_remapper_node.h.

◆ reverseStaticTfCache

tf2_msgs::TFMessage tf_remapper_cpp::TfRemapperNode::reverseStaticTfCache

protected

Cache of static TF messages.

Definition at line 41 of file tf_remapper_node.h.

◆ reverseTfRemapper

TfRemapper tf_remapper_cpp::TfRemapperNode::reverseTfRemapper

protected

The remapper that actually changes the TF messages.

Definition at line 47 of file tf_remapper_node.h.

◆ staticTf

bool tf_remapper_cpp::TfRemapperNode::staticTf

protected

Publisher of /tf_old (only in bidirectional mode).

Definition at line 39 of file tf_remapper_node.h.

◆ staticTfCache

tf2_msgs::TFMessage tf_remapper_cpp::TfRemapperNode::staticTfCache

protected

If true, this node works with static TF, which need special care.

Definition at line 40 of file tf_remapper_node.h.

◆ tfRemapper

TfRemapper tf_remapper_cpp::TfRemapperNode::tfRemapper

protected

Name of the remapped topic ("/tf").

Definition at line 46 of file tf_remapper_node.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TfRemapperNode()

◆ ~TfRemapperNode()

Member Function Documentation

◆ addToStaticTfCache()

◆ oldTfCallback()

◆ remappedTfCallback()

Member Data Documentation

◆ oldTfPublisher

◆ oldTfSubscriber

◆ oldTfTopic

◆ privateNodeHandle

◆ publicNodeHandle

◆ remappedTfPublisher

◆ remappedTfSubscriber

◆ remappedTfTopic

◆ reverseStaticTfCache

◆ reverseTfRemapper

◆ staticTf

◆ staticTfCache

◆ tfRemapper