Follows the patterns set by the message_filters package to implement a filter which only passes messages through once there is transform data available. More...

#include <message_filter.h>

Inheritance diagram for tf2_ros::MessageFilter< M, BufferT >:

[legend]

Collaboration diagram for tf2_ros::MessageFilter< M, BufferT >:

[legend]

Public Types
using	MConstPtr = std::shared_ptr< M const >

typedef message_filters::MessageEvent< M const >	MEvent

Public Types inherited from tf2_ros::MessageFilterBase
typedef std::vector< std::string >	V_string

Public Member Functions
template<typename TimeRepT = int64_t, typename TimeT = std::nano>
	MessageFilter (BufferT &buffer, const std::string &target_frame, uint32_t queue_size, const rclcpp::Node::SharedPtr &node, std::chrono::duration< TimeRepT, TimeT > buffer_timeout=std::chrono::duration< TimeRepT, TimeT >::max())
	Constructor. More...

template<typename TimeRepT = int64_t, typename TimeT = std::nano>
	MessageFilter (BufferT &buffer, const std::string &target_frame, uint32_t queue_size, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &node_logging, const rclcpp::node_interfaces::NodeClockInterface::SharedPtr &node_clock, std::chrono::duration< TimeRepT, TimeT > buffer_timeout=std::chrono::duration< TimeRepT, TimeT >::max())
	Constructor. More...

template<class F , typename TimeRepT = int64_t, typename TimeT = std::nano>
	MessageFilter (F &f, BufferT &buffer, const std::string &target_frame, uint32_t queue_size, const rclcpp::Node::SharedPtr &node, std::chrono::duration< TimeRepT, TimeT > buffer_timeout=std::chrono::duration< TimeRepT, TimeT >::max())
	Constructor. More...

template<class F , typename TimeRepT = int64_t, typename TimeT = std::nano>
	MessageFilter (F &f, BufferT &buffer, const std::string &target_frame, uint32_t queue_size, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &node_logging, const rclcpp::node_interfaces::NodeClockInterface::SharedPtr &node_clock, std::chrono::duration< TimeRepT, TimeT > buffer_timeout=std::chrono::duration< TimeRepT, TimeT >::max())
	Constructor. More...

template<class F >
void	connectInput (F &f)
	Connect this filter's input to another filter's output. If this filter is already connected, disconnects first. More...

	~MessageFilter ()
	Destructor. More...

void	setTargetFrame (const std::string &target_frame)
	Set the frame you need to be able to transform to before getting a message callback. More...

void	setTargetFrames (const V_string &target_frames)
	Set the frames you need to be able to transform to before getting a message callback. More...

std::string	getTargetFramesString ()
	Get the target frames as a string for debugging. More...

void	setTolerance (const rclcpp::Duration &tolerance)
	Set the required tolerance for the notifier to return true. More...

void	clear ()
	Clear any messages currently in the queue. More...

void	add (const MEvent &evt)

void	add (const MConstPtr &message)
	Manually add a message into this filter. More...

virtual void	setQueueSize (uint32_t new_queue_size)
	Register a callback to be called when a message is about to be dropped. More...

virtual uint32_t	getQueueSize ()

Public Member Functions inherited from tf2_ros::MessageFilterBase
virtual	~MessageFilterBase ()

virtual void	setTargetFrames (const V_string &target_frames)=0

Detailed Description

template<class M, class BufferT = tf2_ros::Buffer>
class tf2_ros::MessageFilter< M, BufferT >

Follows the patterns set by the message_filters package to implement a filter which only passes messages through once there is transform data available.

The callbacks used in this class are of the same form as those used by rclcpp's message callbacks.

MessageFilter is templated on a message type.

Example Usage

If you want to hook a MessageFilter into a ROS topic:

  message_filters::Subscriber<MessageType> sub(node_, "topic", 10);
  tf::MessageFilter<MessageType> tf_filter(sub, tf_listener_, "/map", 10);
  tf_filter.registerCallback(&MyClass::myCallback, this);

Member Typedef Documentation

◆ MConstPtr

template<class M , class BufferT = tf2_ros::Buffer>

using tf2_ros::MessageFilter< M, BufferT >::MConstPtr = std::shared_ptr<M const>

◆ MEvent

template<class M , class BufferT = tf2_ros::Buffer>

typedef message_filters::MessageEvent<M const> tf2_ros::MessageFilter< M, BufferT >::MEvent

Constructor & Destructor Documentation

◆ MessageFilter() [1/4]

template<class M , class BufferT = tf2_ros::Buffer>

template<typename TimeRepT = int64_t, typename TimeT = std::nano>

tf2_ros::MessageFilter< M, BufferT >::MessageFilter	(	BufferT &	buffer,
		const std::string &	target_frame,
		uint32_t	queue_size,
		const rclcpp::Node::SharedPtr &	node,
		std::chrono::duration< TimeRepT, TimeT >	buffer_timeout = `std::chrono::duration<TimeRepT, TimeT>::max()`
	)

inline

Constructor.

Parameters

buffer	The buffer this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
node	The ros2 node to use for logging and clock operations
buffer_timeout	The timeout duration after requesting transforms from the buffer.

◆ MessageFilter() [2/4]

template<class M , class BufferT = tf2_ros::Buffer>

template<typename TimeRepT = int64_t, typename TimeT = std::nano>

tf2_ros::MessageFilter< M, BufferT >::MessageFilter	(	BufferT &	buffer,
		const std::string &	target_frame,
		uint32_t	queue_size,
		const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &	node_logging,
		const rclcpp::node_interfaces::NodeClockInterface::SharedPtr &	node_clock,
		std::chrono::duration< TimeRepT, TimeT >	buffer_timeout = `std::chrono::duration<TimeRepT, TimeT>::max()`
	)

inline

Constructor.

Parameters

buffer	The buffer this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
node_logging	The logging interface to use for any log messages
node_clock	The clock interface to use to get the node clock
buffer_timeout	The timeout duration after requesting transforms from the buffer.

◆ MessageFilter() [3/4]

template<class M , class BufferT = tf2_ros::Buffer>

template<class F , typename TimeRepT = int64_t, typename TimeT = std::nano>

tf2_ros::MessageFilter< M, BufferT >::MessageFilter	(	F &	f,
		BufferT &	buffer,
		const std::string &	target_frame,
		uint32_t	queue_size,
		const rclcpp::Node::SharedPtr &	node,
		std::chrono::duration< TimeRepT, TimeT >	buffer_timeout = `std::chrono::duration<TimeRepT, TimeT>::max()`
	)

inline

Constructor.

Parameters

f	The filter to connect this filter's input to. Often will be a message_filters::Subscriber.
buffer	The buffer this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
node	The ros2 node to use for logging and clock operations
buffer_timeout	The timeout duration after requesting transforms from the buffer.

◆ MessageFilter() [4/4]

template<class M , class BufferT = tf2_ros::Buffer>

template<class F , typename TimeRepT = int64_t, typename TimeT = std::nano>

tf2_ros::MessageFilter< M, BufferT >::MessageFilter	(	F &	f,
		BufferT &	buffer,
		const std::string &	target_frame,
		uint32_t	queue_size,
		const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &	node_logging,
		const rclcpp::node_interfaces::NodeClockInterface::SharedPtr &	node_clock,
		std::chrono::duration< TimeRepT, TimeT >	buffer_timeout = `std::chrono::duration<TimeRepT, TimeT>::max()`
	)

inline

Constructor.

Parameters

f	The filter to connect this filter's input to. Often will be a message_filters::Subscriber.
buffer	The buffer this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
node_logging	The logging interface to use for any log messages
node_clock	The clock interface to use to get the node clock
buffer_timeout	The timeout duration after requesting transforms from the buffer.

◆ ~MessageFilter()

template<class M , class BufferT = tf2_ros::Buffer>

tf2_ros::MessageFilter< M, BufferT >::~MessageFilter ( )

inline

Destructor.

Member Function Documentation

◆ connectInput()

template<class M , class BufferT = tf2_ros::Buffer>

template<class F >

void tf2_ros::MessageFilter< M, BufferT >::connectInput ( F & f )

inline

Connect this filter's input to another filter's output. If this filter is already connected, disconnects first.

◆ setTargetFrame()

template<class M , class BufferT = tf2_ros::Buffer>

void tf2_ros::MessageFilter< M, BufferT >::setTargetFrame ( const std::string & target_frame )

inlinevirtual

Set the frame you need to be able to transform to before getting a message callback.

Implements tf2_ros::MessageFilterBase.

◆ setTargetFrames()

template<class M , class BufferT = tf2_ros::Buffer>

void tf2_ros::MessageFilter< M, BufferT >::setTargetFrames ( const V_string & target_frames )

inline

Set the frames you need to be able to transform to before getting a message callback.

◆ getTargetFramesString()

template<class M , class BufferT = tf2_ros::Buffer>

std::string tf2_ros::MessageFilter< M, BufferT >::getTargetFramesString ( )

inline

Get the target frames as a string for debugging.

◆ setTolerance()

template<class M , class BufferT = tf2_ros::Buffer>

void tf2_ros::MessageFilter< M, BufferT >::setTolerance ( const rclcpp::Duration & tolerance )

inlinevirtual

Set the required tolerance for the notifier to return true.

Implements tf2_ros::MessageFilterBase.

◆ clear()

template<class M , class BufferT = tf2_ros::Buffer>

void tf2_ros::MessageFilter< M, BufferT >::clear ( )

inlinevirtual

Clear any messages currently in the queue.

Implements tf2_ros::MessageFilterBase.

◆ add() [1/2]

template<class M , class BufferT = tf2_ros::Buffer>

void tf2_ros::MessageFilter< M, BufferT >::add ( const MEvent & evt )

inline

◆ add() [2/2]

template<class M , class BufferT = tf2_ros::Buffer>

void tf2_ros::MessageFilter< M, BufferT >::add ( const MConstPtr & message )

inline

Manually add a message into this filter.

Note: If the message (or any other messages in the queue) are immediately transformable this will immediately call through to the output callback, possibly multiple times

◆ setQueueSize()

template<class M , class BufferT = tf2_ros::Buffer>

virtual void tf2_ros::MessageFilter< M, BufferT >::setQueueSize ( uint32_t new_queue_size )

inlinevirtual

Register a callback to be called when a message is about to be dropped.

Parameters

callback The callback to call

◆ getQueueSize()

template<class M , class BufferT = tf2_ros::Buffer>

virtual uint32_t tf2_ros::MessageFilter< M, BufferT >::getQueueSize ( )

inlinevirtual

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

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

Public Types

Public Member Functions

Detailed Description

template<class M, class BufferT = tf2_ros::Buffer> class tf2_ros::MessageFilter< M, BufferT >

Example Usage

Member Typedef Documentation

◆ MConstPtr

◆ MEvent

Constructor & Destructor Documentation

◆ MessageFilter() [1/4]

◆ MessageFilter() [2/4]

◆ MessageFilter() [3/4]

◆ MessageFilter() [4/4]

◆ ~MessageFilter()

Member Function Documentation

◆ connectInput()

◆ setTargetFrame()

◆ setTargetFrames()

◆ getTargetFramesString()

◆ setTolerance()

◆ clear()

◆ add() [1/2]

◆ add() [2/2]

◆ setQueueSize()

◆ getQueueSize()

template<class M, class BufferT = tf2_ros::Buffer>
class tf2_ros::MessageFilter< M, BufferT >