Program Listing for File buffer_server.h
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* Author: Eitan Marder-Eppstein
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#ifndef TF2_ROS__BUFFER_SERVER_H_
#define TF2_ROS__BUFFER_SERVER_H_
#include <functional>
#include <list>
#include <memory>
#include <mutex>
#include <string>
#include "tf2/time.h"
#include "tf2/buffer_core_interface.h"
#include "tf2_ros/visibility_control.h"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "rclcpp/create_timer.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "tf2_msgs/action/lookup_transform.hpp"
namespace tf2_ros
{
class BufferServer
{
using LookupTransformAction = tf2_msgs::action::LookupTransform;
using GoalHandle = std::shared_ptr<rclcpp_action::ServerGoalHandle<LookupTransformAction>>;
public:
template<typename NodePtr>
BufferServer(
const tf2::BufferCoreInterface & buffer,
NodePtr node,
const std::string & ns,
tf2::Duration check_period = tf2::durationFromSec(0.01))
: buffer_(buffer),
logger_(node->get_logger())
{
server_ = rclcpp_action::create_server<LookupTransformAction>(
node,
ns,
std::bind(&BufferServer::goalCB, this, std::placeholders::_1, std::placeholders::_2),
std::bind(&BufferServer::cancelCB, this, std::placeholders::_1),
std::bind(&BufferServer::acceptedCB, this, std::placeholders::_1));
check_timer_ = rclcpp::create_timer(
node, node->get_clock(), check_period, std::bind(&BufferServer::checkTransforms, this));
RCLCPP_DEBUG(logger_, "Buffer server started");
}
private:
struct GoalInfo
{
GoalHandle handle;
tf2::TimePoint end_time;
};
TF2_ROS_PUBLIC
rclcpp_action::GoalResponse goalCB(
const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const LookupTransformAction::Goal> goal);
TF2_ROS_PUBLIC
void acceptedCB(GoalHandle gh);
TF2_ROS_PUBLIC
rclcpp_action::CancelResponse cancelCB(GoalHandle gh);
TF2_ROS_PUBLIC
void checkTransforms();
TF2_ROS_PUBLIC
bool canTransform(GoalHandle gh);
TF2_ROS_PUBLIC
geometry_msgs::msg::TransformStamped lookupTransform(GoalHandle gh);
const tf2::BufferCoreInterface & buffer_;
rclcpp::Logger logger_;
rclcpp_action::Server<LookupTransformAction>::SharedPtr server_;
std::list<GoalInfo> active_goals_;
std::mutex mutex_;
rclcpp::TimerBase::SharedPtr check_timer_;
};
} // namespace tf2_ros
#endif // TF2_ROS__BUFFER_SERVER_H_