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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_demos/launch/demo_turtlebot3_navigation.launch
+3 -3
View File
@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<launch>
<!--
$ sudo apt install ros-melodic-turtlebot3* ros-melodic-dwa-local-planner
$ sudo apt install ros-$ROS_DISTRO-turtlebot3* ros-$ROS_DISTRO-dwa-local-planner
To avoid TF warning about leading '/' in frame name, remove it in:
- "/opt/ros/melodic/share/turtlebot3_navigation/param/global_costmap_params.yaml"
- "/opt/ros/melodic/share/turtlebot3_navigation/param/local_costmap_params.yaml"
- "/opt/ros/$ROS_DISTRO/share/turtlebot3_navigation/param/global_costmap_params.yaml"
- "/opt/ros/$ROS_DISTRO/share/turtlebot3_navigation/param/local_costmap_params.yaml"
Example Gazebo:
$ export TURTLEBOT3_MODEL=waffle
rtabmap_demos/src/SaveObjectsExample.cpp
+18 -12
View File
@@ -26,7 +26,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <find_object_2d/ObjectsStamped.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/core/core.hpp>
@@ -40,6 +41,7 @@ class SaveObjectsExample
public:
SaveObjectsExample() :
objFramePrefix_("object"),
tfListener_(tfBuffer_),
frameId_("base_link")
{
ros::NodeHandle pnh("~");
@@ -66,12 +68,15 @@ public:
std::string objectFrameId = uFormat("%s_%d", objFramePrefix_.c_str(),id); // "object_1", "object_2"
// get pose of the object in base frame
tf::StampedTransform pose;
geometry_msgs::TransformStamped pose;
try
{
tfListener_.lookupTransform(frameId_, objectFrameId, msg->header.stamp, pose);
pose = tfBuffer_.lookupTransform(
!frameId_.empty()&&frameId_.at(0)=='/'?frameId_.substr(1):frameId_,
!objectFrameId.empty()&&objectFrameId.at(0)=='/'?objectFrameId.substr(1):objectFrameId,
msg->header.stamp);
}
catch(tf::TransformException & ex)
catch(tf2::TransformException & ex)
{
ROS_WARN("%s",ex.what());
return;
@@ -79,13 +84,13 @@ public:
data.at<double>(i, 0) = double(id);
data.at<double>(i, 1) = ros::Time(msg->header.stamp).toSec();
data.at<double>(i, 2) = pose.getOrigin().x();
data.at<double>(i, 3) = pose.getOrigin().y();
data.at<double>(i, 4) = pose.getOrigin().z();
data.at<double>(i, 5) = pose.getRotation().x();
data.at<double>(i, 6) = pose.getRotation().y();
data.at<double>(i, 7) = pose.getRotation().z();
data.at<double>(i, 8) = pose.getRotation().w();
data.at<double>(i, 2) = pose.transform.translation.x;
data.at<double>(i, 3) = pose.transform.translation.y;
data.at<double>(i, 4) = pose.transform.translation.z;
data.at<double>(i, 5) = pose.transform.rotation.x;
data.at<double>(i, 6) = pose.transform.rotation.y;
data.at<double>(i, 7) = pose.transform.rotation.z;
data.at<double>(i, 8) = pose.transform.rotation.w;
}
rtabmap_msgs::UserData dataMsg;
@@ -254,7 +259,8 @@ private:
std::string objFramePrefix_;
ros::Subscriber subObjects_;
ros::Subscriber subsMapData_;
tf::TransformListener tfListener_;
tf2_ros::Buffer tfBuffer_;
tf2_ros::TransformListener tfListener_;
ros::Publisher pub_;
ros::Publisher pubMarkers_;
std::map<int, cv::Mat> nodeToObjects_;