Action client-based implementation of the tf2_ros::BufferInterface abstract data type. More...

#include <buffer_client.h>

Inheritance diagram for tf2_ros::BufferClient:

Collaboration diagram for tf2_ros::BufferClient:

Public Types
using	LookupTransformAction = tf2_msgs::action::LookupTransform

Public Member Functions
template<typename NodePtr >
	BufferClient (NodePtr node, const std::string ns, const double &check_frequency=10.0, const tf2::Duration &timeout_padding=tf2::durationFromSec(2.0))
	BufferClient constructor. More...

virtual	~BufferClient ()=default

TF2_ROS_PUBLIC geometry_msgs::msg::TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time, const tf2::Duration timeout=tf2::durationFromSec(0.0)) const override
	Get the transform between two frames by frame ID. More...

TF2_ROS_PUBLIC geometry_msgs::msg::TransformStamped	lookupTransform (const std::string &target_frame, const tf2::TimePoint &target_time, const std::string &source_frame, const tf2::TimePoint &source_time, const std::string &fixed_frame, const tf2::Duration timeout=tf2::durationFromSec(0.0)) const override
	Get the transform between two frames by frame ID assuming fixed frame. More...

TF2_ROS_PUBLIC bool	canTransform (const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time, const tf2::Duration timeout=tf2::durationFromSec(0.0), std::string *errstr=nullptr) const override
	Test if a transform is possible. More...

TF2_ROS_PUBLIC bool	canTransform (const std::string &target_frame, const tf2::TimePoint &target_time, const std::string &source_frame, const tf2::TimePoint &source_time, const std::string &fixed_frame, const tf2::Duration timeout=tf2::durationFromSec(0.0), std::string *errstr=nullptr) const override
	Test if a transform is possible. More...

TF2_ROS_PUBLIC bool	waitForServer (const tf2::Duration &timeout=tf2::durationFromSec(0))
	Block until the action server is ready to respond to requests. More...

Public Member Functions inherited from tf2_ros::BufferInterface
template<class T >
T &	transform (const T &in, T &out, const std::string &target_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const
	Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). More...

template<class T >
T	transform (const T &in, const std::string &target_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const
	Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). More...

template<class A , class B >
B &	transform (const A &in, B &out, const std::string &target_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const
	Transform an input into the target frame and convert to a specified output type. It is templated on two types: the type of the input object and the type of the transformed output. For example, the template types could be Transform, Pose, Vector, or Quaternion messages type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. More...

template<class T >
T &	transform (const T &in, T &out, const std::string &target_frame, const tf2::TimePoint &target_time, const std::string &fixed_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const
	Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More...

template<class T >
T	transform (const T &in, const std::string &target_frame, const tf2::TimePoint &target_time, const std::string &fixed_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const
	Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More...

template<class A , class B >
B &	transform (const A &in, B &out, const std::string &target_frame, const tf2::TimePoint &target_time, const std::string &fixed_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const
	Transform an input into the target frame and convert to a specified output type (advanced). It is templated on two types: the type of the input object and the type of the transformed output. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More...

virtual	~BufferInterface ()

Detailed Description

Action client-based implementation of the tf2_ros::BufferInterface abstract data type.

BufferClient uses actions to coordinate waiting for available transforms.

You can use this class with a tf2_ros::BufferServer and tf2_ros::TransformListener in a separate process.

Member Typedef Documentation

◆ LookupTransformAction

using tf2_ros::BufferClient::LookupTransformAction = tf2_msgs::action::LookupTransform

Constructor & Destructor Documentation

◆ BufferClient()

template<typename NodePtr >

tf2_ros::BufferClient::BufferClient	(	NodePtr	node,
		const std::string	ns,
		const double &	check_frequency = `10.0`,
		const tf2::Duration &	timeout_padding = `tf2::durationFromSec(2.0)`
	)

inline

BufferClient constructor.

Parameters

node	The node to add the buffer client to
ns	The namespace in which to look for a BufferServer
check_frequency	The frequency in Hz to check whether the BufferServer has completed a request
timeout_padding	The amount of time to allow passed the desired timeout on the client side for communication lag

◆ ~BufferClient()

virtual tf2_ros::BufferClient::~BufferClient ( )

virtualdefault

Member Function Documentation

◆ lookupTransform() [1/2]

TF2_ROS_PUBLIC geometry_msgs::msg::TransformStamped tf2_ros::BufferClient::lookupTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const tf2::TimePoint &	time,
		const tf2::Duration	timeout = `tf2::durationFromSec(0.0)`
	)		const

overridevirtual

Get the transform between two frames by frame ID.

If there is a communication failure, timeout, or transformation error, an exception is thrown.

Parameters

target_frame	The frame to which data should be transformed
source_frame	The frame where the data originated
time	The time at which the value of the transform is desired. (0 will get the latest)
timeout	How long to block before failing

Returns: The transform between the frames

Exceptions

tf2::TransformException	One of the following tf2::LookupException tf2::ConnectivityException tf2::ExtrapolationException tf2::InvalidArgumentException
tf2_ros::LookupTransformGoalException	One of the following tf2_ros::GoalRejectedException tf2_ros::GoalAbortedException tf2_ros::GoalCanceledException tf2_ros::UnexpectedResultCodeException

Implements tf2_ros::BufferInterface.

◆ lookupTransform() [2/2]

TF2_ROS_PUBLIC geometry_msgs::msg::TransformStamped tf2_ros::BufferClient::lookupTransform	(	const std::string &	target_frame,
		const tf2::TimePoint &	target_time,
		const std::string &	source_frame,
		const tf2::TimePoint &	source_time,
		const std::string &	fixed_frame,
		const tf2::Duration	timeout = `tf2::durationFromSec(0.0)`
	)		const

overridevirtual

Get the transform between two frames by frame ID assuming fixed frame.

If there is a communication failure, timeout, or transformation error, an exception is thrown.

Parameters

target_frame	The frame to which data should be transformed
target_time	The time to which the data should be transformed. (0 will get the latest)
source_frame	The frame where the data originated
source_time	The time at which the source_frame should be evaluated. (0 will get the latest)
fixed_frame	The frame in which to assume the transform is constant in time.
timeout	How long to block before failing

Returns: The transform between the frames

Exceptions

tf2::TransformException	One of the following tf2::LookupException tf2::ConnectivityException tf2::ExtrapolationException tf2::InvalidArgumentException
tf2_ros::LookupTransformGoalException	One of the following tf2_ros::GoalRejectedException tf2_ros::GoalAbortedException tf2_ros::GoalCanceledException tf2_ros::UnexpectedResultCodeException

Implements tf2_ros::BufferInterface.

◆ canTransform() [1/2]

TF2_ROS_PUBLIC bool tf2_ros::BufferClient::canTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const tf2::TimePoint &	time,
		const tf2::Duration	timeout = `tf2::durationFromSec(0.0)`,
		std::string *	errstr = `nullptr`
	)		const

overridevirtual

Test if a transform is possible.

Parameters

target_frame	The frame into which to transform
source_frame	The frame from which to transform
time	The time at which to transform
timeout	How long to block before failing
errstr	A pointer to a string which will be filled with why the transform failed, if not NULL

Returns: True if the transform is possible, false otherwise

Implements tf2_ros::BufferInterface.

◆ canTransform() [2/2]

TF2_ROS_PUBLIC bool tf2_ros::BufferClient::canTransform	(	const std::string &	target_frame,
		const tf2::TimePoint &	target_time,
		const std::string &	source_frame,
		const tf2::TimePoint &	source_time,
		const std::string &	fixed_frame,
		const tf2::Duration	timeout = `tf2::durationFromSec(0.0)`,
		std::string *	errstr = `nullptr`
	)		const

overridevirtual

Test if a transform is possible.

Parameters

target_frame	The frame into which to transform
target_time	The time into which to transform
source_frame	The frame from which to transform
source_time	The time from which to transform
fixed_frame	The frame in which to treat the transform as constant in time
timeout	How long to block before failing
errstr	A pointer to a string which will be filled with why the transform failed, if not NULL

Returns: True if the transform is possible, false otherwise

Implements tf2_ros::BufferInterface.

◆ waitForServer()

TF2_ROS_PUBLIC bool tf2_ros::BufferClient::waitForServer ( const tf2::Duration & timeout = tf2::durationFromSec(0) )

inline

Block until the action server is ready to respond to requests.

Parameters

timeout Time to wait for the server.

Returns: True if the server is ready, false otherwise.

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

/tmp/tmp.G0mQUHO3yi/src/ros2/geometry2/tf2_ros/include/tf2_ros/buffer_client.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ LookupTransformAction

Constructor & Destructor Documentation

◆ BufferClient()

◆ ~BufferClient()

Member Function Documentation

◆ lookupTransform() [1/2]

◆ lookupTransform() [2/2]

◆ canTransform() [1/2]

◆ canTransform() [2/2]

◆ waitForServer()