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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_viz/src/GuiWrapper.cpp
+14 -13
View File
@@ -73,6 +73,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
waitForTransformDuration_(0.2), // 200 ms
odomSensorSync_(false),
maxOdomUpdateRate_(10),
tfListener_(tfBuffer_),
cameraNodeName_(""),
lastOdomInfoUpdateTime_(0),
rtabmapNodeName_("rtabmap")
@@ -541,7 +542,7 @@ void GuiWrapper::commonMultiCameraCallback(
odomHeader.frame_id = odomFrameId_;
}
Transform odomT = rtabmap_conversions::getTransform(odomHeader.frame_id, frameId, odomHeader.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
Transform odomT = rtabmap_conversions::getTransform(odomHeader.frame_id, frameId, odomHeader.stamp, tfBuffer_, waitForTransform_?waitForTransformDuration_:0);
cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
if(odomMsg.get())
{
@@ -608,7 +609,7 @@ void GuiWrapper::commonMultiCameraCallback(
depth,
cameraModels,
stereoCameraModels,
tfListener_,
tfBuffer_,
waitForTransform_?waitForTransformDuration_:0.0,
imagesAlreadyRectified))
{
@@ -625,7 +626,7 @@ void GuiWrapper::commonMultiCameraCallback(
odomSensorSync_?odomHeader.frame_id:"",
odomHeader.stamp,
scan,
tfListener_,
tfBuffer_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap_viz update...");
@@ -640,7 +641,7 @@ void GuiWrapper::commonMultiCameraCallback(
odomSensorSync_?odomHeader.frame_id:"",
odomHeader.stamp,
scan,
tfListener_,
tfBuffer_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmap_viz update...");
@@ -734,7 +735,7 @@ void GuiWrapper::commonStereoCallback(
odomHeader.frame_id = odomFrameId_;
}
Transform odomT = rtabmap_conversions::getTransform(odomHeader.frame_id, frameId, odomHeader.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
Transform odomT = rtabmap_conversions::getTransform(odomHeader.frame_id, frameId, odomHeader.stamp, tfBuffer_, waitForTransform_?waitForTransformDuration_:0);
cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
if(odomMsg.get())
{
@@ -797,7 +798,7 @@ void GuiWrapper::commonStereoCallback(
left,
right,
stereoModel,
tfListener_,
tfBuffer_,
waitForTransform_?waitForTransformDuration_:0.0,
imagesAlreadyRectified))
{
@@ -813,7 +814,7 @@ void GuiWrapper::commonStereoCallback(
odomSensorSync_?odomHeader.frame_id:"",
odomHeader.stamp,
scan,
tfListener_,
tfBuffer_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap_viz update...");
@@ -828,7 +829,7 @@ void GuiWrapper::commonStereoCallback(
odomSensorSync_?odomHeader.frame_id:"",
odomHeader.stamp,
scan,
tfListener_,
tfBuffer_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmap_viz update...");
@@ -907,7 +908,7 @@ void GuiWrapper::commonLaserScanCallback(
odomHeader.frame_id = odomFrameId_;
}
Transform odomT = rtabmap_conversions::getTransform(odomHeader.frame_id, frameId, odomHeader.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
Transform odomT = rtabmap_conversions::getTransform(odomHeader.frame_id, frameId, odomHeader.stamp, tfBuffer_, waitForTransform_?waitForTransformDuration_:0);
cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
if(odomMsg.get())
{
@@ -960,7 +961,7 @@ void GuiWrapper::commonLaserScanCallback(
odomSensorSync_?odomHeader.frame_id:"",
odomHeader.stamp,
scan,
tfListener_,
tfBuffer_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap_viz update...");
@@ -975,7 +976,7 @@ void GuiWrapper::commonLaserScanCallback(
odomSensorSync_?odomHeader.frame_id:"",
odomHeader.stamp,
scan,
tfListener_,
tfBuffer_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmap_viz update...");
@@ -1024,7 +1025,7 @@ void GuiWrapper::commonOdomCallback(
std_msgs::Header odomHeader = odomMsg->header;
Transform odomT = rtabmap_conversions::getTransform(odomHeader.frame_id, odomMsg->child_frame_id, odomHeader.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
Transform odomT = rtabmap_conversions::getTransform(odomHeader.frame_id, odomMsg->child_frame_id, odomHeader.stamp, tfBuffer_, waitForTransform_?waitForTransformDuration_:0);
cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
if(odomMsg.get())
{
@@ -1113,7 +1114,7 @@ void GuiWrapper::commonSensorDataCallback(
odomHeader.frame_id = odomFrameId_;
}
Transform odomT = rtabmap_conversions::getTransform(odomHeader.frame_id, frameId, odomHeader.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0);
Transform odomT = rtabmap_conversions::getTransform(odomHeader.frame_id, frameId, odomHeader.stamp, tfBuffer_, waitForTransform_?waitForTransformDuration_:0);
cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
if(odomMsg.get())
{