tf2_ros.buffer_client module
- class tf2_ros.buffer_client.BufferClient[source]
Bases:
BufferInterface
Action client-based implementation of BufferInterface.
- __init__(node: rclpy.node.Node, ns: str, check_frequency: float = 10.0, timeout_padding: rclpy.duration.Duration = rclpy.duration.Duration) None [source]
Constructor.
- Parameters:
node – The ROS2 node.
ns – The namespace in which to look for a BufferServer.
check_frequency – How frequently to check for updates to known transforms.
timeout_padding – A constant timeout to add to blocking calls.
- can_transform(target_frame: str, source_frame: str, time: rclpy.time.Time, timeout: rclpy.duration.Duration = rclpy.duration.Duration) bool [source]
Check if a transform from the source frame to the target frame is possible.
- Parameters:
target_frame – Name of the frame to transform into.
source_frame – Name of the input frame.
time – The time at which to get the transform. (0 will get the latest)
timeout – Time to wait for the target frame to become available.
return_debug_type – If true, return a tuple representing debug information.
- Returns:
True if the transform is possible, false otherwise.
- can_transform_full(target_frame: str, target_time: rclpy.time.Time, source_frame: str, source_time: rclpy.time.Time, fixed_frame: str, timeout: rclpy.duration.Duration = rclpy.duration.Duration) bool [source]
Check if a transform from the source frame to the target frame is possible (advanced API).
Must be implemented by a subclass of BufferInterface.
- Parameters:
target_frame – Name of the frame to transform into.
target_time – The time to transform to. (0 will get the latest)
source_frame – Name of the input frame.
source_time – The time at which source_frame will be evaluated. (0 will get the latest)
fixed_frame – Name of the frame to consider constant in time.
timeout – Time to wait for the target frame to become available.
return_debug_type – If true, return a tuple representing debug information.
- Returns:
True if the transform is possible, false otherwise.
- lookup_transform(target_frame: str, source_frame: str, time: rclpy.time.Time, timeout: rclpy.duration.Duration = rclpy.duration.Duration) geometry_msgs.msg.TransformStamped [source]
Get the transform from the source frame to the target frame.
- Parameters:
target_frame – Name of the frame to transform into.
source_frame – Name of the input frame.
time – The time at which to get the transform (0 will get the latest).
timeout – Time to wait for the target frame to become available.
- Returns:
The transform between the frames.
- lookup_transform_full(target_frame: str, target_time: rclpy.time.Time, source_frame: str, source_time: rclpy.time.Time, fixed_frame: str, timeout: rclpy.duration.Duration = rclpy.duration.Duration) geometry_msgs.msg.TransformStamped [source]
Get the transform from the source frame to the target frame using the advanced API.
- Parameters:
target_frame – Name of the frame to transform into.
target_time – The time to transform to. (0 will get the latest)
source_frame – Name of the input frame.
source_time – The time at which source_frame will be evaluated. (0 will get the latest)
fixed_frame – Name of the frame to consider constant in time.
timeout – Time to wait for the target frame to become available.
- Returns:
The transform between the frames.