tf_help.cpp

/*
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#include <memory>
#include <string>
#include "nav_2d_utils/tf_help.hpp"
 
namespace nav_2d_utils
{
 
bool transformPose(
  const std::shared_ptr<tf2_ros::Buffer> tf,
  const std::string frame,
  const geometry_msgs::msg::PoseStamped & in_pose,
  geometry_msgs::msg::PoseStamped & out_pose,
  rclcpp::Duration & transform_tolerance
)
{
  if (in_pose.header.frame_id == frame) {
    out_pose = in_pose;
    return true;
  }
 
  try {
    tf->transform(in_pose, out_pose, frame);
    return true;
  } catch (tf2::ExtrapolationException & ex) {
    auto transform = tf->lookupTransform(
      frame,
      in_pose.header.frame_id,
      tf2::TimePointZero
    );
    if (
      (rclcpp::Time(in_pose.header.stamp) - rclcpp::Time(transform.header.stamp)) >
      transform_tolerance)
    {
      RCLCPP_ERROR(
        rclcpp::get_logger("tf_help"),
        "Transform data too old when converting from %s to %s",
        in_pose.header.frame_id.c_str(),
        frame.c_str()
      );
      RCLCPP_ERROR(
        rclcpp::get_logger("tf_help"),
        "Data time: %ds %uns, Transform time: %ds %uns",
        in_pose.header.stamp.sec,
        in_pose.header.stamp.nanosec,
        transform.header.stamp.sec,
        transform.header.stamp.nanosec
      );
      return false;
    } else {
      tf2::doTransform(in_pose, out_pose, transform);
      return true;
    }
  } catch (tf2::TransformException & ex) {
    RCLCPP_ERROR(
      rclcpp::get_logger("tf_help"),
      "Exception in transformPose: %s",
      ex.what()
    );
    return false;
  }
  return false;
}
 
bool transformPose(
  const std::shared_ptr<tf2_ros::Buffer> tf,
  const std::string frame,
  const nav_2d_msgs::msg::Pose2DStamped & in_pose,
  nav_2d_msgs::msg::Pose2DStamped & out_pose,
  rclcpp::Duration & transform_tolerance
)
{
  geometry_msgs::msg::PoseStamped in_3d_pose = pose2DToPoseStamped(in_pose);
  geometry_msgs::msg::PoseStamped out_3d_pose;
 
  bool ret = transformPose(tf, frame, in_3d_pose, out_3d_pose, transform_tolerance);
  if (ret) {
    out_pose = poseStampedToPose2D(out_3d_pose);
  }
  return ret;
}
}  // namespace nav_2d_utils