buffer_client.h

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* Author: Eitan Marder-Eppstein
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#ifndef TF2_ROS__BUFFER_CLIENT_H_
#define TF2_ROS__BUFFER_CLIENT_H_
 
#include <tf2_ros/buffer_interface.h>
#include <tf2_ros/visibility_control.h>
#include <tf2/time.h>
 
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
#include <tf2_msgs/action/lookup_transform.hpp>
 
#include <stdexcept>
#include <string>
 
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_;
};
}  // namespace tf2_ros
 
#endif  // TF2_ROS__BUFFER_CLIENT_H_