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 <memory>
#include <string>
 
#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>
 
#include <tf2/buffer_core_interface.h>
#include <tf2_ros/visibility_control.h>
 
namespace tf2_ros
{
  class BufferServer
  {
    private:
      using LookupTransformAction = tf2_msgs::action::LookupTransform;
      using GoalHandle = std::shared_ptr<rclcpp_action::ServerGoalHandle<LookupTransformAction>>;
 
      struct GoalInfo
      {
        GoalHandle handle;
        tf2::TimePoint end_time;
      };
 
    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())
      {
        using namespace std::placeholders;
 
        server_ = rclcpp_action::create_server<LookupTransformAction>(
          node,
          ns,
          std::bind(&BufferServer::goalCB, this, _1, _2),
          std::bind(&BufferServer::cancelCB, this, _1),
          std::bind(&BufferServer::acceptedCB, this, _1));
 
        check_timer_ = rclcpp::create_timer(
          node, node->get_clock(), check_period, std::bind(&BufferServer::checkTransforms, this));
        RCLCPP_DEBUG(logger_, "Buffer server started");
      }
 
    private:
      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_;
  };
}
#endif