buffer_client.h

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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef TF2_ROS_BUFFER_CLIENT_H_
#define TF2_ROS_BUFFER_CLIENT_H_
 
#include <rclcpp_action/rclcpp_action.hpp>
#include <tf2_msgs/action/lookup_transform.hpp>
 
#include <tf2_ros/buffer_interface.h>
#include <tf2_ros/visibility_control.h>
 
namespace tf2_ros
{
  class LookupTransformGoalException : public std::runtime_error
  {
    public:
      TF2_ROS_PUBLIC
      explicit LookupTransformGoalException(const std::string & message)
        : std::runtime_error(message)
      {
      }
  };
 
  class GoalRejectedException : public LookupTransformGoalException
  {
    public:
      TF2_ROS_PUBLIC
      explicit GoalRejectedException(const std::string & message)
        : LookupTransformGoalException(message)
      {
      }
  };
 
  class GoalAbortedException : public LookupTransformGoalException
  {
    public:
      TF2_ROS_PUBLIC
      explicit GoalAbortedException(const std::string & message)
        : LookupTransformGoalException(message)
      {
      }
  };
 
  class GoalCanceledException : public LookupTransformGoalException
  {
    public:
      TF2_ROS_PUBLIC
      explicit GoalCanceledException(const std::string & message)
        : LookupTransformGoalException(message)
      {
      }
  };
 
  class UnexpectedResultCodeException : public LookupTransformGoalException
  {
    public:
      TF2_ROS_PUBLIC
      explicit UnexpectedResultCodeException(const std::string & message)
        : LookupTransformGoalException(message)
      {
      }
  };
 
  class BufferClient : public BufferInterface
  {
    public:
      using LookupTransformAction = tf2_msgs::action::LookupTransform;
 
      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))
      : check_frequency_(check_frequency),
        timeout_padding_(timeout_padding)
      {
        client_ = rclcpp_action::create_client<LookupTransformAction>(node, ns);
      }
      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;
 
      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;
 
      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;
 
      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;
 
      TF2_ROS_PUBLIC
      bool waitForServer(const tf2::Duration& timeout = tf2::durationFromSec(0))
      {
        return client_->wait_for_action_server(timeout);
      }
 
    private:
      geometry_msgs::msg::TransformStamped
      processGoal(const LookupTransformAction::Goal& goal) const;
 
      geometry_msgs::msg::TransformStamped
      processResult(const LookupTransformAction::Result::SharedPtr& result) const;
 
      rclcpp_action::Client<LookupTransformAction>::SharedPtr client_;
      double check_frequency_;
      tf2::Duration timeout_padding_;
  };
}
#endif