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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_legacy/src/nodelets/obstacles_detection_old.cpp
+14 -15
View File
@@ -33,7 +33,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <tf/transform_listener.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <sensor_msgs/PointCloud2.h>
@@ -61,7 +62,8 @@ public:
segmentFlatObstacles_(false),
waitForTransform_(false),
optimizeForCloseObjects_(false),
projVoxelSize_(0.01)
projVoxelSize_(0.01),
tfListener_(tfBuffer_)
{}
virtual ~ObstaclesDetectionOld()
@@ -120,19 +122,15 @@ private:
rtabmap::Transform localTransform;
try
{
if(waitForTransform_)
{
if(!tfListener_.waitForTransform(frameId_, cloudMsg->header.frame_id, cloudMsg->header.stamp, ros::Duration(1)))
{
NODELET_ERROR("Could not get transform from %s to %s after 1 second!", frameId_.c_str(), cloudMsg->header.frame_id.c_str());
return;
}
}
tf::StampedTransform tmp;
tfListener_.lookupTransform(frameId_, cloudMsg->header.frame_id, cloudMsg->header.stamp, tmp);
localTransform = rtabmap_conversions::transformFromTF(tmp);
geometry_msgs::TransformStamped tmp;
tmp = tfBuffer_.lookupTransform(
!frameId_.empty()&&frameId_.at(0)=='/'?frameId_.substr(1):frameId_,
!cloudMsg->header.frame_id.empty()&&cloudMsg->header.frame_id.at(0)=='/'?cloudMsg->header.frame_id.substr(1):cloudMsg->header.frame_id,
cloudMsg->header.stamp,
ros::Duration(waitForTransform_?1.0:0.0));
localTransform = rtabmap_conversions::transformFromGeometryMsg(tmp.transform);
}
catch(tf::TransformException & ex)
catch(tf2::TransformException & ex)
{
NODELET_ERROR("%s",ex.what());
return;
@@ -342,7 +340,8 @@ private:
bool optimizeForCloseObjects_;
double projVoxelSize_;
tf::TransformListener tfListener_;
tf2_ros::Buffer tfBuffer_;
tf2_ros::TransformListener tfListener_;
ros::Publisher groundPub_;
ros::Publisher obstaclesPub_;