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ros1: Migrating tf to tf2 (#1425)

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* Migrating tf to tf2

* Added ci action to test PR on ros1

* updated dev container with nvidia working

* backward compatibility with topics having frame_id with leading slash not allowed with tf2

* backward compatibility of leading slash for other tf2 buffers

* updated comment
This commit is contained in:
matlabbe
2026-05-23 15:08:21 -07:00
committed by GitHub
parent f81536f508
commit a6921845b6
30 changed files with 311 additions and 247 deletions
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rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h
+11 -10
View File
@@ -29,7 +29,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define MSGCONVERSION_H_
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <geometry_msgs/Transform.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
@@ -135,7 +136,7 @@ rtabmap::StereoCameraModel stereoCameraModelFromROS(
const sensor_msgs::CameraInfo & leftCamInfo,
const sensor_msgs::CameraInfo & rightCamInfo,
const std::string & frameId,
tf::TransformListener & listener,
tf2_ros::Buffer & tfBuffer,
double waitForTransform);
void mapDataFromROS(
@@ -190,7 +191,7 @@ rtabmap::Landmarks landmarksFromROS(
const std::string & frameId,
const std::string & odomFrameId,
const ros::Time & odomStamp,
tf::TransformListener & listener,
tf2_ros::Buffer & tfBuffer,
double waitForTransform,
double defaultLinVariance,
double defaultAngVariance);
@@ -202,7 +203,7 @@ rtabmap::Transform getTransform(
const std::string & fromFrameId,
const std::string & toFrameId,
const ros::Time & stamp,
tf::TransformListener & listener,
tf2_ros::Buffer & tfBuffer,
double waitForTransform);
@@ -213,7 +214,7 @@ rtabmap::Transform getMovingTransform(
const std::string & fixedFrame,
const ros::Time & stampFrom,
const ros::Time & stampTo,
tf::TransformListener & listener,
tf2_ros::Buffer & tfBuffer,
double waitForTransform);
bool convertRGBDMsgs(
@@ -228,7 +229,7 @@ bool convertRGBDMsgs(
cv::Mat & depth,
std::vector<rtabmap::CameraModel> & cameraModels,
std::vector<rtabmap::StereoCameraModel> & stereoCameraModels,
tf::TransformListener & listener,
tf2_ros::Buffer & tfBuffer,
double waitForTransform,
bool alreadRectifiedImages,
const std::vector<std::vector<rtabmap_msgs::KeyPoint> > & localKeyPointsMsgs = std::vector<std::vector<rtabmap_msgs::KeyPoint> >(),
@@ -249,7 +250,7 @@ bool convertStereoMsg(
cv::Mat & left,
cv::Mat & right,
rtabmap::StereoCameraModel & stereoModel,
tf::TransformListener & listener,
tf2_ros::Buffer & tfBuffer,
double waitForTransform,
bool alreadyRectified);
@@ -259,7 +260,7 @@ bool convertScanMsg(
const std::string & odomFrameId,
const ros::Time & odomStamp,
rtabmap::LaserScan & scan,
tf::TransformListener & listener,
tf2_ros::Buffer & tfBuffer,
double waitForTransform,
bool outputInFrameId = false);
@@ -269,7 +270,7 @@ bool convertScan3dMsg(
const std::string & odomFrameId,
const ros::Time & odomStamp,
rtabmap::LaserScan & scan,
tf::TransformListener & listener,
tf2_ros::Buffer & tfBuffer,
double waitForTransform,
int maxPoints = 0,
float maxRange = 0.0f,
@@ -279,7 +280,7 @@ bool deskew(
const sensor_msgs::PointCloud2 & input,
sensor_msgs::PointCloud2 & output,
const std::string & fixedFrameId,
tf::TransformListener & listener,
tf2_ros::Buffer & tfBuffer,
double waitForTransform,
bool slerp = false);