buffer.h

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef TF2_ROS_BUFFER_H
#define TF2_ROS_BUFFER_H
 
#include <memory>
#include <mutex>
#include <unordered_map>
 
#include <tf2_ros/async_buffer_interface.h>
#include <tf2_ros/buffer_interface.h>
#include <tf2_ros/create_timer_interface.h>
#include <tf2_ros/visibility_control.h>
#include <tf2/buffer_core.h>
#include <tf2_msgs/srv/frame_graph.hpp>
#include <rclcpp/rclcpp.hpp>
//TODO(tfoote)  review removal #include <tf2/convert.h>
 
 
namespace tf2_ros
{
 
  class Buffer: public BufferInterface, public AsyncBufferInterface, public tf2::BufferCore
  {
  public:
    using tf2::BufferCore::lookupTransform;
    using tf2::BufferCore::canTransform;
 
    TF2_ROS_PUBLIC Buffer(rclcpp::Clock::SharedPtr clock, tf2::Duration cache_time = tf2::Duration(tf2::BUFFER_CORE_DEFAULT_CACHE_TIME));
 
    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) const override;
 
    TF2_ROS_PUBLIC
    geometry_msgs::msg::TransformStamped
    lookupTransform(const std::string& target_frame, const std::string& source_frame,
      const rclcpp::Time & time, const rclcpp::Duration timeout=rclcpp::Duration(0)) const
    {
      return lookupTransform(target_frame, source_frame, fromRclcpp(time), fromRclcpp(timeout));
    }
 
    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) const override;
 
    TF2_ROS_PUBLIC
    geometry_msgs::msg::TransformStamped
    lookupTransform(const std::string & target_frame, const rclcpp::Time & target_time,
      const std::string & source_frame, const rclcpp::Time & source_time,
      const std::string & fixed_frame, const rclcpp::Duration timeout=rclcpp::Duration(0)) const
    {
      return lookupTransform(
        target_frame, fromRclcpp(target_time),
        source_frame, fromRclcpp(source_time),
        fixed_frame, fromRclcpp(timeout));
    }
 
    TF2_ROS_PUBLIC
    bool
    canTransform(const std::string& target_frame, const std::string& source_frame, 
                 const tf2::TimePoint& target_time, const tf2::Duration timeout, std::string* errstr = NULL) const override;
 
    TF2_ROS_PUBLIC
    bool
    canTransform(const std::string & target_frame, const std::string & source_frame,
      const rclcpp::Time & time, const rclcpp::Duration timeout=rclcpp::Duration(0),
      std::string * errstr=NULL) const
    {
      return canTransform(target_frame, source_frame, fromRclcpp(time), fromRclcpp(timeout), errstr);
    }
 
    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, std::string* errstr = NULL) const override;
 
    TF2_ROS_PUBLIC
    bool
    canTransform(const std::string & target_frame, const rclcpp::Time & target_time,
      const std::string & source_frame, const rclcpp::Time & source_time,
      const std::string & fixed_frame, const rclcpp::Duration timeout=rclcpp::Duration(0),
      std::string * errstr=NULL) const
    {
      return canTransform(
        target_frame, fromRclcpp(target_time),
        source_frame, fromRclcpp(source_time),
        fixed_frame, fromRclcpp(timeout),
        errstr);
    }
 
    TF2_ROS_PUBLIC
    TransformStampedFuture
    waitForTransform(const std::string& target_frame, const std::string& source_frame, const tf2::TimePoint& time,
                     const tf2::Duration& timeout, TransformReadyCallback callback) override;
 
    TF2_ROS_PUBLIC
    TransformStampedFuture
    waitForTransform(const std::string & target_frame, const std::string & source_frame,
                     const rclcpp::Time & time,
                     const rclcpp::Duration & timeout, TransformReadyCallback callback)
    {
      return waitForTransform(
        target_frame, source_frame,
        fromRclcpp(time), fromRclcpp(timeout),
        callback);
    }
 
    TF2_ROS_PUBLIC
    inline void
    setCreateTimerInterface(CreateTimerInterface::SharedPtr create_timer_interface)
    {
      timer_interface_ = create_timer_interface;
    }
    
  private:
    void timerCallback(const TimerHandle & timer_handle,
                       std::shared_ptr<std::promise<geometry_msgs::msg::TransformStamped>> promise,
                       TransformStampedFuture future,
                       TransformReadyCallback callback);
 
    bool getFrames(tf2_msgs::srv::FrameGraph::Request& req, tf2_msgs::srv::FrameGraph::Response& res) ;
 
    void onTimeJump(const rcl_time_jump_t & jump);
 
    // conditionally error if dedicated_thread unset.
    bool checkAndErrorDedicatedThreadPresent(std::string* errstr) const;
 
//TODO(tfoote)renable framegraph service
//    ros::ServiceServer frames_server_;
 
    rclcpp::Clock::SharedPtr clock_;
 
    CreateTimerInterface::SharedPtr timer_interface_;
 
    std::unordered_map<TimerHandle, tf2::TransformableRequestHandle> timer_to_request_map_;
 
    std::mutex timer_to_request_map_mutex_;
 
    rclcpp::JumpHandler::SharedPtr jump_handler_;
  }; // class 
 
static const std::string threading_error = "Do not call canTransform or lookupTransform with a timeout unless you are using another thread for populating data. Without a dedicated thread it will always timeout.  If you have a seperate thread servicing tf messages, call setUsingDedicatedThread(true) on your Buffer instance.";
 
  
} // namespace
 
#endif // TF2_ROS_BUFFER_H