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| 1 | +/* |
| 2 | + * Software License Agreement (BSD License) |
| 3 | + * |
| 4 | + * Copyright (c) 2017, Locus Robotics |
| 5 | + * All rights reserved. |
| 6 | + * |
| 7 | + * Redistribution and use in source and binary forms, with or without |
| 8 | + * modification, are permitted provided that the following conditions |
| 9 | + * are met: |
| 10 | + * |
| 11 | + * * Redistributions of source code must retain the above copyright |
| 12 | + * notice, this list of conditions and the following disclaimer. |
| 13 | + * * Redistributions in binary form must reproduce the above |
| 14 | + * copyright notice, this list of conditions and the following |
| 15 | + * disclaimer in the documentation and/or other materials provided |
| 16 | + * with the distribution. |
| 17 | + * * Neither the name of the copyright holder nor the names of its |
| 18 | + * contributors may be used to endorse or promote products derived |
| 19 | + * from this software without specific prior written permission. |
| 20 | + * |
| 21 | + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 22 | + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 23 | + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| 24 | + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| 25 | + * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| 26 | + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| 27 | + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| 28 | + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| 29 | + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| 30 | + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| 31 | + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 32 | + * POSSIBILITY OF SUCH DAMAGE. |
| 33 | + */ |
| 34 | + |
| 35 | +#include <memory> |
| 36 | +#include <string> |
| 37 | +#include "nav_2d_utils/tf_help.hpp" |
| 38 | + |
| 39 | +namespace nav_2d_utils |
| 40 | +{ |
| 41 | + |
| 42 | +bool transformPose( |
| 43 | + const std::shared_ptr<tf2_ros::Buffer> tf, |
| 44 | + const std::string frame, |
| 45 | + const geometry_msgs::msg::PoseStamped & in_pose, |
| 46 | + geometry_msgs::msg::PoseStamped & out_pose, |
| 47 | + rclcpp::Duration & transform_tolerance |
| 48 | +) |
| 49 | +{ |
| 50 | + if (in_pose.header.frame_id == frame) { |
| 51 | + out_pose = in_pose; |
| 52 | + return true; |
| 53 | + } |
| 54 | + |
| 55 | + try { |
| 56 | + tf->transform(in_pose, out_pose, frame); |
| 57 | + return true; |
| 58 | + } catch (tf2::ExtrapolationException & ex) { |
| 59 | + auto transform = tf->lookupTransform( |
| 60 | + frame, |
| 61 | + in_pose.header.frame_id, |
| 62 | + tf2::TimePointZero |
| 63 | + ); |
| 64 | + if ( |
| 65 | + (rclcpp::Time(in_pose.header.stamp) - rclcpp::Time(transform.header.stamp)) > |
| 66 | + transform_tolerance) |
| 67 | + { |
| 68 | + RCLCPP_ERROR( |
| 69 | + rclcpp::get_logger("tf_help"), |
| 70 | + "Transform data too old when converting from %s to %s", |
| 71 | + in_pose.header.frame_id.c_str(), |
| 72 | + frame.c_str() |
| 73 | + ); |
| 74 | + RCLCPP_ERROR( |
| 75 | + rclcpp::get_logger("tf_help"), |
| 76 | + "Data time: %ds %uns, Transform time: %ds %uns", |
| 77 | + in_pose.header.stamp.sec, |
| 78 | + in_pose.header.stamp.nanosec, |
| 79 | + transform.header.stamp.sec, |
| 80 | + transform.header.stamp.nanosec |
| 81 | + ); |
| 82 | + return false; |
| 83 | + } else { |
| 84 | + tf2::doTransform(in_pose, out_pose, transform); |
| 85 | + return true; |
| 86 | + } |
| 87 | + } catch (tf2::TransformException & ex) { |
| 88 | + RCLCPP_ERROR( |
| 89 | + rclcpp::get_logger("tf_help"), |
| 90 | + "Exception in transformPose: %s", |
| 91 | + ex.what() |
| 92 | + ); |
| 93 | + return false; |
| 94 | + } |
| 95 | + return false; |
| 96 | +} |
| 97 | + |
| 98 | +bool transformPose( |
| 99 | + const std::shared_ptr<tf2_ros::Buffer> tf, |
| 100 | + const std::string frame, |
| 101 | + const nav_2d_msgs::msg::Pose2DStamped & in_pose, |
| 102 | + nav_2d_msgs::msg::Pose2DStamped & out_pose, |
| 103 | + rclcpp::Duration & transform_tolerance |
| 104 | +) |
| 105 | +{ |
| 106 | + geometry_msgs::msg::PoseStamped in_3d_pose = pose2DToPoseStamped(in_pose); |
| 107 | + geometry_msgs::msg::PoseStamped out_3d_pose; |
| 108 | + |
| 109 | + bool ret = transformPose(tf, frame, in_3d_pose, out_3d_pose, transform_tolerance); |
| 110 | + if (ret) { |
| 111 | + out_pose = poseStampedToPose2D(out_3d_pose); |
| 112 | + } |
| 113 | + return ret; |
| 114 | +} |
| 115 | +} // namespace nav_2d_utils |
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