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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_odom/src/OdometryROS.cpp
+6 -5
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@@ -74,6 +74,7 @@ OdometryROS::OdometryROS(bool stereoParams, bool visParams, bool icpParams) :
waitForTransformDuration_(0.1), // 100 ms
publishNullWhenLost_(true),
publishCompressedSensorData_(false),
tfListener_(tfBuffer_),
paused_(false),
resetCountdown_(0),
resetCurrentCount_(0),
@@ -429,7 +430,7 @@ void OdometryROS::callbackIMU(const sensor_msgs::ImuConstPtr& msg)
rtabmap::Transform localTransform = rtabmap::Transform::getIdentity();
if(this->frameId().compare(msg->header.frame_id) != 0)
{
localTransform = rtabmap_conversions::getTransform(this->frameId(), msg->header.frame_id, msg->header.stamp, this->tfListener(), this->waitForTransformDuration());
localTransform = rtabmap_conversions::getTransform(this->frameId(), msg->header.frame_id, msg->header.stamp, this->tfBuffer(), this->waitForTransformDuration());
}
if(localTransform.isNull())
{
@@ -647,7 +648,7 @@ void OdometryROS::processData()
if(!groundTruthFrameId_.empty())
{
groundTruth = rtabmap_conversions::getTransform(groundTruthFrameId_, groundTruthBaseFrameId_, header.stamp, this->tfListener(), this->waitForTransformDuration());
groundTruth = rtabmap_conversions::getTransform(groundTruthFrameId_, groundTruthBaseFrameId_, header.stamp, this->tfBuffer(), this->waitForTransformDuration());
if(!data.imageRaw().empty() || !data.laserScanRaw().isEmpty())
{
@@ -695,7 +696,7 @@ void OdometryROS::processData()
else
{
// Check TF to see if sensor fusion is used (e.g., the output of robot_localization)
Transform tfPose = rtabmap_conversions::getTransform(odomFrameId_, frameId_, header.stamp, this->tfListener(), this->waitForTransformDuration());
Transform tfPose = rtabmap_conversions::getTransform(odomFrameId_, frameId_, header.stamp, this->tfBuffer(), this->waitForTransformDuration());
if(tfPose.isNull())
{
NODELET_WARN( "Odometry automatically reset to latest computed pose!");
@@ -719,7 +720,7 @@ void OdometryROS::processData()
Transform guessCurrentPose;
if(!guessFrameId_.empty())
{
guessCurrentPose = rtabmap_conversions::getTransform(guessFrameId_, frameId_, header.stamp, this->tfListener(), this->waitForTransformDuration());
guessCurrentPose = rtabmap_conversions::getTransform(guessFrameId_, frameId_, header.stamp, this->tfBuffer(), this->waitForTransformDuration());
Transform previousPose = guessPreviousPose_;
if(guessPreviousPose_.isNull())
@@ -1068,7 +1069,7 @@ void OdometryROS::processData()
else
{
// Check TF to see if sensor fusion is used (e.g., the output of robot_localization)
Transform tfPose = rtabmap_conversions::getTransform(odomFrameId_, frameId_, header.stamp, this->tfListener(), this->waitForTransformDuration());
Transform tfPose = rtabmap_conversions::getTransform(odomFrameId_, frameId_, header.stamp, this->tfBuffer(), this->waitForTransformDuration());
if(tfPose.isNull())
{
NODELET_WARN( "Odometry automatically reset to latest computed pose!");