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compare: DuongTD:5558086d10e402e7afc605c6c68074ab4f530b9f
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DuongTD:main

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Author SHA1 Message Date
HiepLM
5558086d10 Hiep update 2025-12-30 10:24:40 +07:00
HiepLM
e4db1da907 hiep sua ten file 2025-12-30 09:56:49 +07:00
HiepLM
2987c1a481 HiepLM update 2025-12-30 09:06:48 +07:00
281 changed files with 311 additions and 18411 deletions
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8
CMakeLists.txt
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@@ -3,11 +3,11 @@ project(common_msgs)
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD 17)
set(CMAKE_POSITION_INDEPENDENT_CODE ON) set(CMAKE_POSITION_INDEPENDENT_CODE ON)
if (NOT TARGET tf3_geometry_msgs) if (NOT TARGET robot_tf3_geometry_msgs)
add_subdirectory(tf3_geometry_msgs) add_subdirectory(robot_tf3_geometry_msgs)
endif() endif()
if (NOT TARGET tf3_sensor_msgs) if (NOT TARGET robot_tf3_sensor_msgs)
add_subdirectory(tf3_sensor_msgs) add_subdirectory(robot_tf3_sensor_msgs)
endif() endif()

32
tf3_geometry_msgs/CMakeLists.txt → robot_tf3_geometry_msgs/CMakeLists.txt
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@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.10) cmake_minimum_required(VERSION 3.10)
project(tf3_geometry_msgs) project(robot_tf3_geometry_msgs)
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -24,42 +24,42 @@ install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include/${PROJECT_NAME} DESTINATION include/${PROJECT_NAME}
) )
add_library(tf3_geometry_msgs INTERFACE add_library(robot_tf3_geometry_msgs INTERFACE
) )
target_include_directories(tf3_geometry_msgs target_include_directories(robot_tf3_geometry_msgs
INTERFACE INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include> $<INSTALL_INTERFACE:include>
) )
# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/ # Liên kết với robot_std_msgs nếu bạn có file Header.h trong include/robot_std_msgs/
target_link_libraries(tf3_geometry_msgs INTERFACE target_link_libraries(robot_tf3_geometry_msgs INTERFACE
geometry_msgs geometry_msgs
data_convert data_convert
) )
# --- Cài đặt thư viện vào hệ thống khi chạy make install --- # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
install(TARGETS tf3_geometry_msgs install(TARGETS robot_tf3_geometry_msgs
EXPORT tf3_geometry_msgs-targets EXPORT robot_tf3_geometry_msgs-targets
INCLUDES DESTINATION include # Cài đặt include INCLUDES DESTINATION include # Cài đặt include
) )
# --- Xuất export set tf3_geometry_msgs-targets thành file CMake module --- # --- Xuất export set robot_tf3_geometry_msgs-targets thành file CMake module ---
# --- Tạo file lib/cmake/tf3_geometry_msgs/tf3_geometry_msgs-targets.cmake --- # --- Tạo file lib/cmake/robot_tf3_geometry_msgs/robot_tf3_geometry_msgs-targets.cmake ---
# --- File này chứa cấu hình giúp project khác có thể dùng --- # --- File này chứa cấu hình giúp project khác có thể dùng ---
# --- Find_package(tf3_geometry_msgs REQUIRED) --- # --- Find_package(robot_tf3_geometry_msgs REQUIRED) ---
# --- Target_link_libraries(my_app PRIVATE tf3_geometry_msgs::tf3_geometry_msgs) --- # --- Target_link_libraries(my_app PRIVATE tf3_robot_geometry_msgs::robot_tf3_geometry_msgs) ---
install(EXPORT tf3_geometry_msgs-targets install(EXPORT robot_tf3_geometry_msgs-targets
FILE tf3_geometry_msgs-targets.cmake FILE robot_tf3_geometry_msgs-targets.cmake
DESTINATION lib/cmake/tf3_geometry_msgs DESTINATION lib/cmake/robot_tf3_geometry_msgs
) )
# # Test: tomsg_frommsg # # Test: tomsg_frommsg
add_executable(test_tomsg_frommsg test/test_tomsg_frommsg.cpp) add_executable(test_tomsg_frommsg test/test_tomsg_frommsg.cpp)
target_link_libraries(test_tomsg_frommsg target_link_libraries(test_tomsg_frommsg
${GTEST_LIBRARIES} ${GTEST_LIBRARIES}
tf3_geometry_msgs robot_tf3_geometry_msgs
Threads::Threads Threads::Threads
tf3 tf3
data_convert data_convert
@@ -70,6 +70,6 @@ install(EXPORT tf3_geometry_msgs-targets
${GTEST_LIBRARIES} ${GTEST_LIBRARIES}
Threads::Threads Threads::Threads
tf3 tf3
tf3_geometry_msgs robot_tf3_geometry_msgs
data_convert data_convert
) )

32
tf3_geometry_msgs/CODE_REVIEW.md → robot_tf3_geometry_msgs/CODE_REVIEW.md
View File

@@ -1,12 +1,12 @@
# Đánh Giá Mã Nguồn: tf3_geometry_msgs # Đánh Giá Mã Nguồn: robot_tf3_geometry_msgs
## Tóm Tắt ## Tóm Tắt
Đánh giá mã nguồn này bao gồm package `tf3_geometry_msgs`, cung cấp các hàm chuyển đổi giữa các kiểu tf3 và geometry_msgs. Đánh giá mã nguồn này bao gồm package `robot_tf3_geometry_msgs`, cung cấp các hàm chuyển đổi giữa các kiểu tf3 và geometry_msgs.
## Các Vấn Đề Nghiêm Trọng ## Các Vấn Đề Nghiêm Trọng
### 1. Mã Debug Còn Sót Lại Trong Production (Dòng 826) ### 1. Mã Debug Còn Sót Lại Trong Production (Dòng 826)
**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h` **File:** `include/robot_tf3_geometry_msgs/robot_tf3_geometry_msgs.h`
**Vấn đề:** Câu lệnh debug `std::cout` còn sót lại trong mã production **Vấn đề:** Câu lệnh debug `std::cout` còn sót lại trong mã production
```cpp ```cpp
std::cout << "doTransform Pose: " << std::endl; std::cout << "doTransform Pose: " << std::endl;
@@ -15,13 +15,13 @@ std::cout << "doTransform Pose: " << std::endl;
**Cách sửa:** Xóa câu lệnh debug **Cách sửa:** Xóa câu lệnh debug
### 2. Thiếu Include ### 2. Thiếu Include
**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h` **File:** `include/robot_tf3_geometry_msgs/robot_tf3_geometry_msgs.h`
**Vấn đề:** Sử dụng `std::cout` nhưng không include `<iostream>` **Vấn đề:** Sử dụng `std::cout` nhưng không include `<iostream>`
**Ảnh hưởng:** Có thể gây lỗi biên dịch nếu include không được cung cấp gián tiếp **Ảnh hưởng:** Có thể gây lỗi biên dịch nếu include không được cung cấp gián tiếp
**Cách sửa:** Xóa mã debug hoặc thêm `#include <iostream>` nếu cần **Cách sửa:** Xóa mã debug hoặc thêm `#include <iostream>` nếu cần
### 3. Thiếu Từ Khóa `inline` Trong Header ### 3. Thiếu Từ Khóa `inline` Trong Header
**File:** `include/tf3_geometry_msgs/data_convert.h` **File:** `include/robot_tf3_geometry_msgs/data_convert.h`
**Vấn đề:** Các hàm trong file header không được đánh dấu `inline` **Vấn đề:** Các hàm trong file header không được đánh dấu `inline`
**Ảnh hưởng:** Lỗi định nghĩa nhiều lần khi được include trong nhiều translation unit **Ảnh hưởng:** Lỗi định nghĩa nhiều lần khi được include trong nhiều translation unit
**Dòng:** 14, 22, 30, 51, 73, 89 **Dòng:** 14, 22, 30, 51, 73, 89
@@ -30,14 +30,14 @@ std::cout << "doTransform Pose: " << std::endl;
## Các Vấn Đề Về Chất Lượng Mã ## Các Vấn Đề Về Chất Lượng Mã
### 4. Template Specialization Trùng Lặp ### 4. Template Specialization Trùng Lặp
**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h` **File:** `include/robot_tf3_geometry_msgs/robot_tf3_geometry_msgs.h`
**Vấn đề:** Các template specialization trùng lặp chỉ gọi cùng một hàm **Vấn đề:** Các template specialization trùng lặp chỉ gọi cùng một hàm
**Dòng:** 389-394, 416-421 **Dòng:** 389-394, 416-421
```cpp ```cpp
//Backwards compatibility remove when forked for Lunar or newer //Backwards compatibility remove when forked for Lunar or newer
template <> template <>
inline inline
geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in) robot_geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in)
{ {
return toMsg(in); // Chỉ gọi cùng một hàm return toMsg(in); // Chỉ gọi cùng một hàm
} }
@@ -46,7 +46,7 @@ geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in)
**Cách sửa:** Xóa các specialization trùng lặp hoặc giải thích tại sao cần thiết **Cách sửa:** Xóa các specialization trùng lặp hoặc giải thích tại sao cần thiết
### 5. Khối Mã Comment Lớn ### 5. Khối Mã Comment Lớn
**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h` **File:** `include/robot_tf3_geometry_msgs/robot_tf3_geometry_msgs.h`
**Vấn đề:** Nhiều khối mã bị comment **Vấn đề:** Nhiều khối mã bị comment
**Dòng:** **Dòng:**
- 383-394: Template specialization bị comment - 383-394: Template specialization bị comment
@@ -57,22 +57,22 @@ geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in)
**Cách sửa:** Xóa mã đã comment hoặc chuyển vào lịch sử version control **Cách sửa:** Xóa mã đã comment hoặc chuyển vào lịch sử version control
### 6. Chữ Ký Hàm Không Nhất Quán ### 6. Chữ Ký Hàm Không Nhất Quán
**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h` **File:** `include/robot_tf3_geometry_msgs/robot_tf3_geometry_msgs.h`
**Vấn đề:** Một số hàm `toMsg` trả về giá trị, một số khác nhận tham số output **Vấn đề:** Một số hàm `toMsg` trả về giá trị, một số khác nhận tham số output
**Ví dụ:** **Ví dụ:**
- Dòng 81: `geometry_msgs::Vector3 toMsg(const tf3::Vector3& in)` - trả về giá trị - Dòng 81: `robot_geometry_msgs::Vector3 toMsg(const tf3::Vector3& in)` - trả về giá trị
- Dòng 190: `geometry_msgs::Point& toMsg(const tf3::Vector3& in, geometry_msgs::Point& out)` - tham số output - Dòng 190: `robot_geometry_msgs::Point& toMsg(const tf3::Vector3& in, robot_geometry_msgs::Point& out)` - tham số output
**Ảnh hưởng:** API không nhất quán, có thể gây nhầm lẫn cho người dùng **Ảnh hưởng:** API không nhất quán, có thể gây nhầm lẫn cho người dùng
**Lưu ý:** Có thể là cố ý cho các trường hợp sử dụng khác nhau, nhưng nên được tài liệu hóa **Lưu ý:** Có thể là cố ý cho các trường hợp sử dụng khác nhau, nhưng nên được tài liệu hóa
### 7. Tài Liệu Comment Không Chính Xác ### 7. Tài Liệu Comment Không Chính Xác
**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h` **File:** `include/robot_tf3_geometry_msgs/robot_tf3_geometry_msgs.h`
**Vấn đề:** Tài liệu không khớp với implementation **Vấn đề:** Tài liệu không khớp với implementation
**Dòng 259:** Nói "Vector3Stamped converted to a geometry_msgs PointStamped" nhưng nên nói "Stamped Vector3" **Dòng 259:** Nói "Vector3Stamped converted to a geometry_msgs PointStamped" nhưng nên nói "Stamped Vector3"
**Cách sửa:** Cập nhật tài liệu cho khớp với hành vi thực tế **Cách sửa:** Cập nhật tài liệu cho khớp với hành vi thực tế
### 8. Thiếu Kiểm Tra Đầu Vào ### 8. Thiếu Kiểm Tra Đầu Vào
**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h` **File:** `include/robot_tf3_geometry_msgs/robot_tf3_geometry_msgs.h`
**Vấn đề:** Không có kiểm tra chuẩn hóa quaternion trong các hàm chuyển đổi **Vấn đề:** Không có kiểm tra chuẩn hóa quaternion trong các hàm chuyển đổi
**Ảnh hưởng:** Quaternion không hợp lệ có thể lan truyền trong hệ thống **Ảnh hưởng:** Quaternion không hợp lệ có thể lan truyền trong hệ thống
**Lưu ý:** Nên thêm kiểm tra hoặc chuẩn hóa ở các đường dẫn quan trọng **Lưu ý:** Nên thêm kiểm tra hoặc chuẩn hóa ở các đường dẫn quan trọng
@@ -80,19 +80,19 @@ geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in)
## Các Vấn Đề Nhỏ ## Các Vấn Đề Nhỏ
### 9. Định Dạng Không Nhất Quán ### 9. Định Dạng Không Nhất Quán
**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h` **File:** `include/robot_tf3_geometry_msgs/robot_tf3_geometry_msgs.h`
**Vấn đề:** Khoảng trắng và thụt lề không nhất quán ở một số chỗ **Vấn đề:** Khoảng trắng và thụt lề không nhất quán ở một số chỗ
**Ví dụ:** Dòng 65-67 có thụt lề không nhất quán **Ví dụ:** Dòng 65-67 có thụt lề không nhất quán
### 10. Hàm Deprecated Vẫn Còn ### 10. Hàm Deprecated Vẫn Còn
**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h` **File:** `include/robot_tf3_geometry_msgs/robot_tf3_geometry_msgs.h`
**Vấn đề:** `gmTransformToKDL` được đánh dấu deprecated nhưng vẫn được implement **Vấn đề:** `gmTransformToKDL` được đánh dấu deprecated nhưng vẫn được implement
**Dòng:** 60-68 **Dòng:** 60-68
**Ảnh hưởng:** Mã deprecated nên được xóa hoặc đánh dấu rõ ràng để xóa **Ảnh hưởng:** Mã deprecated nên được xóa hoặc đánh dấu rõ ràng để xóa
**Cách sửa:** Xóa hoặc tài liệu hóa lịch trình xóa **Cách sửa:** Xóa hoặc tài liệu hóa lịch trình xóa
### 11. Thiếu Xử Lý Lỗi ### 11. Thiếu Xử Lý Lỗi
**File:** `include/tf3_geometry_msgs/data_convert.h` **File:** `include/robot_tf3_geometry_msgs/data_convert.h`
**Vấn đề:** Không có xử lý lỗi cho đầu vào không hợp lệ (ví dụ: quaternion chưa chuẩn hóa) **Vấn đề:** Không có xử lý lỗi cho đầu vào không hợp lệ (ví dụ: quaternion chưa chuẩn hóa)
**Ảnh hưởng:** Lỗi im lặng hoặc biến đổi sai **Ảnh hưởng:** Lỗi im lặng hoặc biến đổi sai
**Lưu ý:** Nên thêm assertion hoặc validation **Lưu ý:** Nên thêm assertion hoặc validation

6
tf3_geometry_msgs/DO_TRANSFORM_EXPLANATION.md → robot_tf3_geometry_msgs/DO_TRANSFORM_EXPLANATION.md
View File

@@ -43,7 +43,7 @@ Pose_out = Transform * Pose_in
### Đầu Vào ### Đầu Vào
1. **`t_in`** (geometry_msgs::Pose): Pose trong frame nguồn 1. **`t_in`** (robot_geometry_msgs::Pose): Pose trong frame nguồn
```cpp ```cpp
t_in.position.x, t_in.position.y, t_in.position.z // Vị trí t_in.position.x, t_in.position.y, t_in.position.z // Vị trí
t_in.orientation.x, t_in.orientation.y, t_in.orientation.z, t_in.orientation.w // Hướng (quaternion) t_in.orientation.x, t_in.orientation.y, t_in.orientation.z, t_in.orientation.w // Hướng (quaternion)
@@ -57,7 +57,7 @@ Pose_out = Transform * Pose_in
### Đầu Ra ### Đầu Ra
**`t_out`** (geometry_msgs::Pose): Pose trong frame đích **`t_out`** (robot_geometry_msgs::Pose): Pose trong frame đích
```cpp ```cpp
t_out.position.x, y, z // Vị trí đã được transform t_out.position.x, y, z // Vị trí đã được transform
t_out.orientation.x, y, z, w // Hướng đã được transform t_out.orientation.x, y, z, w // Hướng đã được transform
@@ -207,7 +207,7 @@ v_out.translation = Vector3(-9.0, 18.0, 27.0) // Khớp với test expect
**Giải thích:** Sự khác biệt cho thấy có thể `lookupTransform` trả về transform ngược lại, hoặc transform được lưu trữ theo cách khác. Kết quả thực tế `(-9, 18, 27, 1, 0, 0, 0)` khớp với việc áp dụng transform từ B sang A (inverse của transform đã set). **Giải thích:** Sự khác biệt cho thấy có thể `lookupTransform` trả về transform ngược lại, hoặc transform được lưu trữ theo cách khác. Kết quả thực tế `(-9, 18, 27, 1, 0, 0, 0)` khớp với việc áp dụng transform từ B sang A (inverse của transform đã set).
#### Bước 6: Chuyển đổi kết quả về geometry_msgs::Pose (t_out) #### Bước 6: Chuyển đổi kết quả về robot_geometry_msgs::Pose (t_out)
```cpp ```cpp
toMsg(v_out, t_out); toMsg(v_out, t_out);

176
tf3_geometry_msgs/include/tf3_geometry_msgs/tf3_geometry_msgs.h → robot_tf3_geometry_msgs/include/robot_tf3_geometry_msgs/tf3_geometry_msgs.h
View File

@@ -29,22 +29,22 @@
/** \author Wim Meeussen */ /** \author Wim Meeussen */
#ifndef TF3_GEOMETRY_MSGS_H #ifndef ROBOT_TF3_GEOMETRY_MSGS_H
#define TF3_GEOMETRY_MSGS_H #define ROBOT_TF3_GEOMETRY_MSGS_H
#include <tf3/convert.h> #include <tf3/convert.h>
#include <tf3/LinearMath/Quaternion.h> #include <tf3/LinearMath/Quaternion.h>
#include <tf3/LinearMath/Transform.h> #include <tf3/LinearMath/Transform.h>
#include <data_convert/data_convert.h> #include <data_convert/data_convert.h>
#include <geometry_msgs/PointStamped.h> #include <robot_geometry_msgs/PointStamped.h>
#include <geometry_msgs/QuaternionStamped.h> #include <robot_geometry_msgs/QuaternionStamped.h>
#include <geometry_msgs/TransformStamped.h> #include <robot_geometry_msgs/TransformStamped.h>
#include <geometry_msgs/Vector3Stamped.h> #include <robot_geometry_msgs/Vector3Stamped.h>
#include <geometry_msgs/Pose.h> #include <robot_geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h> #include <robot_geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h> #include <robot_geometry_msgs/PoseWithCovarianceStamped.h>
#include <geometry_msgs/Wrench.h> #include <robot_geometry_msgs/Wrench.h>
#include <geometry_msgs/WrenchStamped.h> #include <robot_geometry_msgs/WrenchStamped.h>
#include <kdl/frames.hpp> #include <kdl/frames.hpp>
#include <array> #include <array>
@@ -58,9 +58,9 @@ namespace tf3
* \deprecated * \deprecated
*/ */
inline inline
ROS_DEPRECATED KDL::Frame gmTransformToKDL(const geometry_msgs::TransformStamped& t); ROS_DEPRECATED KDL::Frame gmTransformToKDL(const robot_geometry_msgs::TransformStamped& t);
inline inline
KDL::Frame gmTransformToKDL(const geometry_msgs::TransformStamped& t) KDL::Frame gmTransformToKDL(const robot_geometry_msgs::TransformStamped& t)
{ {
return KDL::Frame(KDL::Rotation::Quaternion(t.transform.rotation.x, t.transform.rotation.y, return KDL::Frame(KDL::Rotation::Quaternion(t.transform.rotation.x, t.transform.rotation.y,
t.transform.rotation.z, t.transform.rotation.w), t.transform.rotation.z, t.transform.rotation.w),
@@ -78,9 +78,9 @@ KDL::Frame gmTransformToKDL(const geometry_msgs::TransformStamped& t)
* \return The Vector3 converted to a geometry_msgs message type. * \return The Vector3 converted to a geometry_msgs message type.
*/ */
inline inline
geometry_msgs::Vector3 toMsg(const tf3::Vector3& in) robot_geometry_msgs::Vector3 toMsg(const tf3::Vector3& in)
{ {
geometry_msgs::Vector3 out; robot_geometry_msgs::Vector3 out;
out.x = in.getX(); out.x = in.getX();
out.y = in.getY(); out.y = in.getY();
out.z = in.getZ(); out.z = in.getZ();
@@ -93,7 +93,7 @@ geometry_msgs::Vector3 toMsg(const tf3::Vector3& in)
* \param out The Vector3 converted to a tf3 type. * \param out The Vector3 converted to a tf3 type.
*/ */
inline inline
void fromMsg(const geometry_msgs::Vector3& in, tf3::Vector3& out) void fromMsg(const robot_geometry_msgs::Vector3& in, tf3::Vector3& out)
{ {
out = tf3::Vector3(in.x, in.y, in.z); out = tf3::Vector3(in.x, in.y, in.z);
} }
@@ -111,7 +111,7 @@ void fromMsg(const geometry_msgs::Vector3& in, tf3::Vector3& out)
*/ */
template <> template <>
inline inline
const tf3::Time& getTimestamp(const geometry_msgs::Vector3Stamped& t) {return data_convert::convertTime(t.header.stamp);} const tf3::Time& getTimestamp(const robot_geometry_msgs::Vector3Stamped& t) {return data_convert::convertTime(t.header.stamp);}
/** \brief Extract a frame ID from the header of a Vector message. /** \brief Extract a frame ID from the header of a Vector message.
* This function is a specialization of the getFrameId template defined in tf3/convert.h. * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -121,7 +121,7 @@ inline
*/ */
template <> template <>
inline inline
const std::string& getFrameId(const geometry_msgs::Vector3Stamped& t) {return t.header.frame_id;} const std::string& getFrameId(const robot_geometry_msgs::Vector3Stamped& t) {return t.header.frame_id;}
/** \brief Trivial "conversion" function for Vector3 message type. /** \brief Trivial "conversion" function for Vector3 message type.
@@ -130,7 +130,7 @@ inline
* \return The input argument. * \return The input argument.
*/ */
inline inline
geometry_msgs::Vector3Stamped toMsg(const geometry_msgs::Vector3Stamped& in) robot_geometry_msgs::Vector3Stamped toMsg(const robot_geometry_msgs::Vector3Stamped& in)
{ {
return in; return in;
} }
@@ -141,7 +141,7 @@ geometry_msgs::Vector3Stamped toMsg(const geometry_msgs::Vector3Stamped& in)
* \param out The input argument. * \param out The input argument.
*/ */
inline inline
void fromMsg(const geometry_msgs::Vector3Stamped& msg, geometry_msgs::Vector3Stamped& out) void fromMsg(const robot_geometry_msgs::Vector3Stamped& msg, robot_geometry_msgs::Vector3Stamped& out)
{ {
out = msg; out = msg;
} }
@@ -152,9 +152,9 @@ void fromMsg(const geometry_msgs::Vector3Stamped& msg, geometry_msgs::Vector3Sta
* \return The Vector3Stamped converted to a geometry_msgs Vector3Stamped message type. * \return The Vector3Stamped converted to a geometry_msgs Vector3Stamped message type.
*/ */
inline inline
geometry_msgs::Vector3Stamped toMsg(const tf3::Stamped<tf3::Vector3>& in) robot_geometry_msgs::Vector3Stamped toMsg(const tf3::Stamped<tf3::Vector3>& in)
{ {
geometry_msgs::Vector3Stamped out; robot_geometry_msgs::Vector3Stamped out;
out.header.stamp = data_convert::convertTime(in.stamp_); out.header.stamp = data_convert::convertTime(in.stamp_);
out.header.frame_id = in.frame_id_; out.header.frame_id = in.frame_id_;
out.vector.x = in.getX(); out.vector.x = in.getX();
@@ -169,7 +169,7 @@ geometry_msgs::Vector3Stamped toMsg(const tf3::Stamped<tf3::Vector3>& in)
* \param out The Vector3Stamped converted to the equivalent tf3 type. * \param out The Vector3Stamped converted to the equivalent tf3 type.
*/ */
inline inline
void fromMsg(const geometry_msgs::Vector3Stamped& msg, tf3::Stamped<tf3::Vector3>& out) void fromMsg(const robot_geometry_msgs::Vector3Stamped& msg, tf3::Stamped<tf3::Vector3>& out)
{ {
out.stamp_ = data_convert::convertTime(msg.header.stamp); out.stamp_ = data_convert::convertTime(msg.header.stamp);
out.frame_id_ = msg.header.frame_id; out.frame_id_ = msg.header.frame_id;
@@ -187,7 +187,7 @@ void fromMsg(const geometry_msgs::Vector3Stamped& msg, tf3::Stamped<tf3::Vector3
* \return The Vector3 converted to a geometry_msgs message type. * \return The Vector3 converted to a geometry_msgs message type.
*/ */
inline inline
geometry_msgs::Point& toMsg(const tf3::Vector3& in, geometry_msgs::Point& out) robot_geometry_msgs::Point& toMsg(const tf3::Vector3& in, robot_geometry_msgs::Point& out)
{ {
out.x = in.getX(); out.x = in.getX();
out.y = in.getY(); out.y = in.getY();
@@ -201,7 +201,7 @@ geometry_msgs::Point& toMsg(const tf3::Vector3& in, geometry_msgs::Point& out)
* \param out The Vector3 converted to a tf3 type. * \param out The Vector3 converted to a tf3 type.
*/ */
inline inline
void fromMsg(const geometry_msgs::Point& in, tf3::Vector3& out) void fromMsg(const robot_geometry_msgs::Point& in, tf3::Vector3& out)
{ {
out = tf3::Vector3(in.x, in.y, in.z); out = tf3::Vector3(in.x, in.y, in.z);
} }
@@ -219,7 +219,7 @@ void fromMsg(const geometry_msgs::Point& in, tf3::Vector3& out)
*/ */
template <> template <>
inline inline
const tf3::Time& getTimestamp(const geometry_msgs::PointStamped& t) {return data_convert::convertTime(t.header.stamp);} const tf3::Time& getTimestamp(const robot_geometry_msgs::PointStamped& t) {return data_convert::convertTime(t.header.stamp);}
/** \brief Extract a frame ID from the header of a Point message. /** \brief Extract a frame ID from the header of a Point message.
* This function is a specialization of the getFrameId template defined in tf3/convert.h. * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -229,7 +229,7 @@ inline
*/ */
template <> template <>
inline inline
const std::string& getFrameId(const geometry_msgs::PointStamped& t) {return t.header.frame_id;} const std::string& getFrameId(const robot_geometry_msgs::PointStamped& t) {return t.header.frame_id;}
/** \brief Trivial "conversion" function for Point message type. /** \brief Trivial "conversion" function for Point message type.
* This function is a specialization of the toMsg template defined in tf3/convert.h. * This function is a specialization of the toMsg template defined in tf3/convert.h.
@@ -237,7 +237,7 @@ inline
* \return The input argument. * \return The input argument.
*/ */
inline inline
geometry_msgs::PointStamped toMsg(const geometry_msgs::PointStamped& in) robot_geometry_msgs::PointStamped toMsg(const robot_geometry_msgs::PointStamped& in)
{ {
return in; return in;
} }
@@ -248,7 +248,7 @@ geometry_msgs::PointStamped toMsg(const geometry_msgs::PointStamped& in)
* \param out The input argument. * \param out The input argument.
*/ */
inline inline
void fromMsg(const geometry_msgs::PointStamped& msg, geometry_msgs::PointStamped& out) void fromMsg(const robot_geometry_msgs::PointStamped& msg, robot_geometry_msgs::PointStamped& out)
{ {
out = msg; out = msg;
} }
@@ -259,7 +259,7 @@ void fromMsg(const geometry_msgs::PointStamped& msg, geometry_msgs::PointStamped
* \return The Vector3Stamped converted to a geometry_msgs PointStamped message type. * \return The Vector3Stamped converted to a geometry_msgs PointStamped message type.
*/ */
inline inline
geometry_msgs::PointStamped toMsg(const tf3::Stamped<tf3::Vector3>& in, geometry_msgs::PointStamped & out) robot_geometry_msgs::PointStamped toMsg(const tf3::Stamped<tf3::Vector3>& in, robot_geometry_msgs::PointStamped & out)
{ {
out.header.stamp = data_convert::convertTime(in.stamp_); out.header.stamp = data_convert::convertTime(in.stamp_);
out.header.frame_id = in.frame_id_; out.header.frame_id = in.frame_id_;
@@ -275,7 +275,7 @@ geometry_msgs::PointStamped toMsg(const tf3::Stamped<tf3::Vector3>& in, geometry
* \param out The PointStamped converted to the equivalent tf3 type. * \param out The PointStamped converted to the equivalent tf3 type.
*/ */
inline inline
void fromMsg(const geometry_msgs::PointStamped& msg, tf3::Stamped<tf3::Vector3>& out) void fromMsg(const robot_geometry_msgs::PointStamped& msg, tf3::Stamped<tf3::Vector3>& out)
{ {
out.stamp_ = data_convert::convertTime(msg.header.stamp); out.stamp_ = data_convert::convertTime(msg.header.stamp);
out.frame_id_ = msg.header.frame_id; out.frame_id_ = msg.header.frame_id;
@@ -293,9 +293,9 @@ void fromMsg(const geometry_msgs::PointStamped& msg, tf3::Stamped<tf3::Vector3>&
* \return The Quaternion converted to a geometry_msgs message type. * \return The Quaternion converted to a geometry_msgs message type.
*/ */
inline inline
geometry_msgs::Quaternion toMsg(const tf3::Quaternion& in) robot_geometry_msgs::Quaternion toMsg(const tf3::Quaternion& in)
{ {
geometry_msgs::Quaternion out; robot_geometry_msgs::Quaternion out;
out.w = in.getW(); out.w = in.getW();
out.x = in.getX(); out.x = in.getX();
out.y = in.getY(); out.y = in.getY();
@@ -309,7 +309,7 @@ geometry_msgs::Quaternion toMsg(const tf3::Quaternion& in)
* \param out The Quaternion converted to a tf3 type. * \param out The Quaternion converted to a tf3 type.
*/ */
inline inline
void fromMsg(const geometry_msgs::Quaternion& in, tf3::Quaternion& out) void fromMsg(const robot_geometry_msgs::Quaternion& in, tf3::Quaternion& out)
{ {
// w at the end in the constructor // w at the end in the constructor
out = tf3::Quaternion(in.x, in.y, in.z, in.w); out = tf3::Quaternion(in.x, in.y, in.z, in.w);
@@ -328,7 +328,7 @@ void fromMsg(const geometry_msgs::Quaternion& in, tf3::Quaternion& out)
*/ */
template <> template <>
inline inline
const tf3::Time& getTimestamp(const geometry_msgs::QuaternionStamped& t) {return data_convert::convertTime(t.header.stamp);} const tf3::Time& getTimestamp(const robot_geometry_msgs::QuaternionStamped& t) {return data_convert::convertTime(t.header.stamp);}
/** \brief Extract a frame ID from the header of a Quaternion message. /** \brief Extract a frame ID from the header of a Quaternion message.
* This function is a specialization of the getFrameId template defined in tf3/convert.h. * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -338,7 +338,7 @@ const tf3::Time& getTimestamp(const geometry_msgs::QuaternionStamped& t) {retur
*/ */
template <> template <>
inline inline
const std::string& getFrameId(const geometry_msgs::QuaternionStamped& t) {return t.header.frame_id;} const std::string& getFrameId(const robot_geometry_msgs::QuaternionStamped& t) {return t.header.frame_id;}
/** \brief Trivial "conversion" function for Quaternion message type. /** \brief Trivial "conversion" function for Quaternion message type.
* This function is a specialization of the toMsg template defined in tf3/convert.h. * This function is a specialization of the toMsg template defined in tf3/convert.h.
@@ -346,7 +346,7 @@ const std::string& getFrameId(const geometry_msgs::QuaternionStamped& t) {retur
* \return The input argument. * \return The input argument.
*/ */
inline inline
geometry_msgs::QuaternionStamped toMsg(const geometry_msgs::QuaternionStamped& in) robot_geometry_msgs::QuaternionStamped toMsg(const robot_geometry_msgs::QuaternionStamped& in)
{ {
return in; return in;
} }
@@ -357,7 +357,7 @@ geometry_msgs::QuaternionStamped toMsg(const geometry_msgs::QuaternionStamped& i
* \param out The input argument. * \param out The input argument.
*/ */
inline inline
void fromMsg(const geometry_msgs::QuaternionStamped& msg, geometry_msgs::QuaternionStamped& out) void fromMsg(const robot_geometry_msgs::QuaternionStamped& msg, robot_geometry_msgs::QuaternionStamped& out)
{ {
out = msg; out = msg;
} }
@@ -368,9 +368,9 @@ void fromMsg(const geometry_msgs::QuaternionStamped& msg, geometry_msgs::Quatern
* \return The QuaternionStamped converted to a geometry_msgs QuaternionStamped message type. * \return The QuaternionStamped converted to a geometry_msgs QuaternionStamped message type.
*/ */
inline inline
geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in) robot_geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in)
{ {
geometry_msgs::QuaternionStamped out; robot_geometry_msgs::QuaternionStamped out;
out.header.stamp = data_convert::convertTime(in.stamp_); out.header.stamp = data_convert::convertTime(in.stamp_);
out.header.frame_id = in.frame_id_; out.header.frame_id = in.frame_id_;
out.quaternion.w = in.getW(); out.quaternion.w = in.getW();
@@ -382,13 +382,13 @@ geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in)
// template <> // template <>
// inline // inline
// ROS_DEPRECATED geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in); // ROS_DEPRECATED robot_geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in);
//Backwards compatibility remove when forked for Lunar or newer //Backwards compatibility remove when forked for Lunar or newer
template <> template <>
inline inline
geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in) robot_geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in)
{ {
return toMsg(in); return toMsg(in);
} }
@@ -399,7 +399,7 @@ geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in)
* \param out The QuaternionStamped converted to the equivalent tf3 type. * \param out The QuaternionStamped converted to the equivalent tf3 type.
*/ */
inline inline
void fromMsg(const geometry_msgs::QuaternionStamped& in, tf3::Stamped<tf3::Quaternion>& out) void fromMsg(const robot_geometry_msgs::QuaternionStamped& in, tf3::Stamped<tf3::Quaternion>& out)
{ {
out.stamp_ = data_convert::convertTime(in.header.stamp); out.stamp_ = data_convert::convertTime(in.header.stamp);
out.frame_id_ = in.header.frame_id; out.frame_id_ = in.header.frame_id;
@@ -410,12 +410,12 @@ void fromMsg(const geometry_msgs::QuaternionStamped& in, tf3::Stamped<tf3::Quate
// template<> // template<>
// inline // inline
// ROS_DEPRECATED void fromMsg(const geometry_msgs::QuaternionStamped& in, tf3::Stamped<tf3::Quaternion>& out); // ROS_DEPRECATED void fromMsg(const robot_geometry_msgs::QuaternionStamped& in, tf3::Stamped<tf3::Quaternion>& out);
//Backwards compatibility remove when forked for Lunar or newer //Backwards compatibility remove when forked for Lunar or newer
template<> template<>
inline inline
void fromMsg(const geometry_msgs::QuaternionStamped& in, tf3::Stamped<tf3::Quaternion>& out) void fromMsg(const robot_geometry_msgs::QuaternionStamped& in, tf3::Stamped<tf3::Quaternion>& out)
{ {
fromMsg(in, out); fromMsg(in, out);
} }
@@ -429,7 +429,7 @@ void fromMsg(const geometry_msgs::QuaternionStamped& in, tf3::Stamped<tf3::Quate
* \param out The Transform converted to a geometry_msgs Pose message type. * \param out The Transform converted to a geometry_msgs Pose message type.
*/ */
inline inline
geometry_msgs::Pose& toMsg(const tf3::Transform& in, geometry_msgs::Pose& out) robot_geometry_msgs::Pose& toMsg(const tf3::Transform& in, robot_geometry_msgs::Pose& out)
{ {
toMsg(in.getOrigin(), out.position); toMsg(in.getOrigin(), out.position);
out.orientation = toMsg(in.getRotation()); out.orientation = toMsg(in.getRotation());
@@ -441,7 +441,7 @@ geometry_msgs::Pose& toMsg(const tf3::Transform& in, geometry_msgs::Pose& out)
* \param out The Pose converted to a tf3 Transform type. * \param out The Pose converted to a tf3 Transform type.
*/ */
inline inline
void fromMsg(const geometry_msgs::Pose& in, tf3::Transform& out) void fromMsg(const robot_geometry_msgs::Pose& in, tf3::Transform& out)
{ {
out.setOrigin(tf3::Vector3(in.position.x, in.position.y, in.position.z)); out.setOrigin(tf3::Vector3(in.position.x, in.position.y, in.position.z));
// w at the end in the constructor // w at the end in the constructor
@@ -461,7 +461,7 @@ void fromMsg(const geometry_msgs::Pose& in, tf3::Transform& out)
*/ */
template <> template <>
inline inline
const tf3::Time& getTimestamp(const geometry_msgs::PoseStamped& t) {return data_convert::convertTime(t.header.stamp);} const tf3::Time& getTimestamp(const robot_geometry_msgs::PoseStamped& t) {return data_convert::convertTime(t.header.stamp);}
/** \brief Extract a frame ID from the header of a Pose message. /** \brief Extract a frame ID from the header of a Pose message.
* This function is a specialization of the getFrameId template defined in tf3/convert.h. * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -470,7 +470,7 @@ inline
*/ */
template <> template <>
inline inline
const std::string& getFrameId(const geometry_msgs::PoseStamped& t) {return t.header.frame_id;} const std::string& getFrameId(const robot_geometry_msgs::PoseStamped& t) {return t.header.frame_id;}
/** \brief Trivial "conversion" function for Pose message type. /** \brief Trivial "conversion" function for Pose message type.
* This function is a specialization of the toMsg template defined in tf3/convert.h. * This function is a specialization of the toMsg template defined in tf3/convert.h.
@@ -478,7 +478,7 @@ inline
* \return The input argument. * \return The input argument.
*/ */
inline inline
geometry_msgs::PoseStamped toMsg(const geometry_msgs::PoseStamped& in) robot_geometry_msgs::PoseStamped toMsg(const robot_geometry_msgs::PoseStamped& in)
{ {
return in; return in;
} }
@@ -489,7 +489,7 @@ geometry_msgs::PoseStamped toMsg(const geometry_msgs::PoseStamped& in)
* \param out The input argument. * \param out The input argument.
*/ */
inline inline
void fromMsg(const geometry_msgs::PoseStamped& msg, geometry_msgs::PoseStamped& out) void fromMsg(const robot_geometry_msgs::PoseStamped& msg, robot_geometry_msgs::PoseStamped& out)
{ {
out = msg; out = msg;
} }
@@ -500,7 +500,7 @@ void fromMsg(const geometry_msgs::PoseStamped& msg, geometry_msgs::PoseStamped&
* \return The PoseStamped converted to a geometry_msgs PoseStamped message type. * \return The PoseStamped converted to a geometry_msgs PoseStamped message type.
*/ */
inline inline
geometry_msgs::PoseStamped toMsg(const tf3::Stamped<tf3::Transform>& in, geometry_msgs::PoseStamped & out) robot_geometry_msgs::PoseStamped toMsg(const tf3::Stamped<tf3::Transform>& in, robot_geometry_msgs::PoseStamped & out)
{ {
out.header.stamp = data_convert::convertTime(in.stamp_); out.header.stamp = data_convert::convertTime(in.stamp_);
out.header.frame_id = in.frame_id_; out.header.frame_id = in.frame_id_;
@@ -515,7 +515,7 @@ geometry_msgs::PoseStamped toMsg(const tf3::Stamped<tf3::Transform>& in, geometr
* \param out The PoseStamped converted to the equivalent tf3 type. * \param out The PoseStamped converted to the equivalent tf3 type.
*/ */
inline inline
void fromMsg(const geometry_msgs::PoseStamped& msg, tf3::Stamped<tf3::Transform>& out) void fromMsg(const robot_geometry_msgs::PoseStamped& msg, tf3::Stamped<tf3::Transform>& out)
{ {
out.stamp_ = data_convert::convertTime(msg.header.stamp); out.stamp_ = data_convert::convertTime(msg.header.stamp);
out.frame_id_ = msg.header.frame_id; out.frame_id_ = msg.header.frame_id;
@@ -535,7 +535,7 @@ void fromMsg(const geometry_msgs::PoseStamped& msg, tf3::Stamped<tf3::Transform>
*/ */
template <> template <>
inline inline
const tf3::Time& getTimestamp(const geometry_msgs::PoseWithCovarianceStamped& t) {return data_convert::convertTime(t.header.stamp);} const tf3::Time& getTimestamp(const robot_geometry_msgs::PoseWithCovarianceStamped& t) {return data_convert::convertTime(t.header.stamp);}
/** \brief Extract a frame ID from the header of a PoseWithCovarianceStamped message. /** \brief Extract a frame ID from the header of a PoseWithCovarianceStamped message.
* This function is a specialization of the getFrameId template defined in tf3/convert.h. * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -544,7 +544,7 @@ inline
*/ */
template <> template <>
inline inline
const std::string& getFrameId(const geometry_msgs::PoseWithCovarianceStamped& t) {return t.header.frame_id;} const std::string& getFrameId(const robot_geometry_msgs::PoseWithCovarianceStamped& t) {return t.header.frame_id;}
/** \brief Trivial "conversion" function for PoseWithCovarianceStamped message type. /** \brief Trivial "conversion" function for PoseWithCovarianceStamped message type.
* This function is a specialization of the toMsg template defined in tf3/convert.h. * This function is a specialization of the toMsg template defined in tf3/convert.h.
@@ -552,7 +552,7 @@ inline
* \return The input argument. * \return The input argument.
*/ */
inline inline
geometry_msgs::PoseWithCovarianceStamped toMsg(const geometry_msgs::PoseWithCovarianceStamped& in) robot_geometry_msgs::PoseWithCovarianceStamped toMsg(const robot_geometry_msgs::PoseWithCovarianceStamped& in)
{ {
return in; return in;
} }
@@ -563,7 +563,7 @@ geometry_msgs::PoseWithCovarianceStamped toMsg(const geometry_msgs::PoseWithCova
* \param out The input argument. * \param out The input argument.
*/ */
inline inline
void fromMsg(const geometry_msgs::PoseWithCovarianceStamped& msg, geometry_msgs::PoseWithCovarianceStamped& out) void fromMsg(const robot_geometry_msgs::PoseWithCovarianceStamped& msg, robot_geometry_msgs::PoseWithCovarianceStamped& out)
{ {
out = msg; out = msg;
} }
@@ -574,7 +574,7 @@ void fromMsg(const geometry_msgs::PoseWithCovarianceStamped& msg, geometry_msgs:
* \return The PoseWithCovarianceStamped converted to a geometry_msgs PoseWithCovarianceStamped message type. * \return The PoseWithCovarianceStamped converted to a geometry_msgs PoseWithCovarianceStamped message type.
*/ */
inline inline
geometry_msgs::PoseWithCovarianceStamped toMsg(const tf3::Stamped<tf3::Transform>& in, geometry_msgs::PoseWithCovarianceStamped & out) robot_geometry_msgs::PoseWithCovarianceStamped toMsg(const tf3::Stamped<tf3::Transform>& in, robot_geometry_msgs::PoseWithCovarianceStamped & out)
{ {
out.header.stamp = data_convert::convertTime(in.stamp_); out.header.stamp = data_convert::convertTime(in.stamp_);
out.header.frame_id = in.frame_id_; out.header.frame_id = in.frame_id_;
@@ -589,7 +589,7 @@ geometry_msgs::PoseWithCovarianceStamped toMsg(const tf3::Stamped<tf3::Transform
* \param out The PoseWithCovarianceStamped converted to the equivalent tf3 type. * \param out The PoseWithCovarianceStamped converted to the equivalent tf3 type.
*/ */
inline inline
void fromMsg(const geometry_msgs::PoseWithCovarianceStamped& msg, tf3::Stamped<tf3::Transform>& out) void fromMsg(const robot_geometry_msgs::PoseWithCovarianceStamped& msg, tf3::Stamped<tf3::Transform>& out)
{ {
out.stamp_ = data_convert::convertTime(msg.header.stamp); out.stamp_ = data_convert::convertTime(msg.header.stamp);
out.frame_id_ = msg.header.frame_id; out.frame_id_ = msg.header.frame_id;
@@ -608,9 +608,9 @@ void fromMsg(const geometry_msgs::PoseWithCovarianceStamped& msg, tf3::Stamped<t
* \return The Transform converted to a geometry_msgs message type. * \return The Transform converted to a geometry_msgs message type.
*/ */
inline inline
geometry_msgs::Transform toMsg(const tf3::Transform& in) robot_geometry_msgs::Transform toMsg(const tf3::Transform& in)
{ {
geometry_msgs::Transform out; robot_geometry_msgs::Transform out;
out.translation = toMsg(in.getOrigin()); out.translation = toMsg(in.getOrigin());
out.rotation = toMsg(in.getRotation()); out.rotation = toMsg(in.getRotation());
return out; return out;
@@ -622,7 +622,7 @@ geometry_msgs::Transform toMsg(const tf3::Transform& in)
* \param out The Transform converted to a tf3 type. * \param out The Transform converted to a tf3 type.
*/ */
inline inline
void fromMsg(const geometry_msgs::Transform& in, tf3::Transform& out) void fromMsg(const robot_geometry_msgs::Transform& in, tf3::Transform& out)
{ {
tf3::Vector3 v; tf3::Vector3 v;
fromMsg(in.translation, v); fromMsg(in.translation, v);
@@ -659,7 +659,7 @@ void fromMsg(const tf3::TransformMsg& in, tf3::Transform& out)
*/ */
template <> template <>
inline inline
const tf3::Time& getTimestamp(const geometry_msgs::TransformStamped& t) {return data_convert::convertTime(t.header.stamp);} const tf3::Time& getTimestamp(const robot_geometry_msgs::TransformStamped& t) {return data_convert::convertTime(t.header.stamp);}
/** \brief Extract a frame ID from the header of a Transform message. /** \brief Extract a frame ID from the header of a Transform message.
* This function is a specialization of the getFrameId template defined in tf3/convert.h. * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -668,7 +668,7 @@ const tf3::Time& getTimestamp(const geometry_msgs::TransformStamped& t) {return
*/ */
template <> template <>
inline inline
const std::string& getFrameId(const geometry_msgs::TransformStamped& t) {return t.header.frame_id;} const std::string& getFrameId(const robot_geometry_msgs::TransformStamped& t) {return t.header.frame_id;}
/** \brief Trivial "conversion" function for Transform message type. /** \brief Trivial "conversion" function for Transform message type.
* This function is a specialization of the toMsg template defined in tf3/convert.h. * This function is a specialization of the toMsg template defined in tf3/convert.h.
@@ -676,7 +676,7 @@ const std::string& getFrameId(const geometry_msgs::TransformStamped& t) {return
* \return The input argument. * \return The input argument.
*/ */
inline inline
geometry_msgs::TransformStamped toMsg(const geometry_msgs::TransformStamped& in) robot_geometry_msgs::TransformStamped toMsg(const robot_geometry_msgs::TransformStamped& in)
{ {
return in; return in;
} }
@@ -686,7 +686,7 @@ geometry_msgs::TransformStamped toMsg(const geometry_msgs::TransformStamped& in)
* \param out The input argument. * \param out The input argument.
*/ */
inline inline
void fromMsg(const geometry_msgs::TransformStamped& msg, geometry_msgs::TransformStamped& out) void fromMsg(const robot_geometry_msgs::TransformStamped& msg, robot_geometry_msgs::TransformStamped& out)
{ {
out = msg; out = msg;
} }
@@ -697,9 +697,9 @@ void fromMsg(const geometry_msgs::TransformStamped& msg, geometry_msgs::Transfor
* \return The tf3::Stamped<tf3::Transform> converted to a geometry_msgs TransformStamped message type. * \return The tf3::Stamped<tf3::Transform> converted to a geometry_msgs TransformStamped message type.
*/ */
inline inline
geometry_msgs::TransformStamped toMsg(const tf3::Stamped<tf3::Transform>& in) robot_geometry_msgs::TransformStamped toMsg(const tf3::Stamped<tf3::Transform>& in)
{ {
geometry_msgs::TransformStamped out; robot_geometry_msgs::TransformStamped out;
out.header.stamp = data_convert::convertTime(in.stamp_); out.header.stamp = data_convert::convertTime(in.stamp_);
out.header.frame_id = in.frame_id_; out.header.frame_id = in.frame_id_;
out.transform.translation = toMsg(in.getOrigin()); out.transform.translation = toMsg(in.getOrigin());
@@ -714,7 +714,7 @@ geometry_msgs::TransformStamped toMsg(const tf3::Stamped<tf3::Transform>& in)
* \param out The TransformStamped converted to the equivalent tf3 type. * \param out The TransformStamped converted to the equivalent tf3 type.
*/ */
inline inline
void fromMsg(const geometry_msgs::TransformStamped& msg, tf3::Stamped<tf3::Transform>& out) void fromMsg(const robot_geometry_msgs::TransformStamped& msg, tf3::Stamped<tf3::Transform>& out)
{ {
out.stamp_ = data_convert::convertTime(msg.header.stamp); out.stamp_ = data_convert::convertTime(msg.header.stamp);
out.frame_id_ = msg.header.frame_id; out.frame_id_ = msg.header.frame_id;
@@ -731,7 +731,7 @@ void fromMsg(const geometry_msgs::TransformStamped& msg, tf3::Stamped<tf3::Trans
*/ */
template <> template <>
inline inline
void doTransform(const geometry_msgs::Point& t_in, geometry_msgs::Point& t_out, const tf3::TransformStampedMsg& transform) void doTransform(const robot_geometry_msgs::Point& t_in, robot_geometry_msgs::Point& t_out, const tf3::TransformStampedMsg& transform)
{ {
tf3::Transform t = data_convert::convertTotf3Transform(transform); tf3::Transform t = data_convert::convertTotf3Transform(transform);
@@ -749,7 +749,7 @@ inline
*/ */
template <> template <>
inline inline
void doTransform(const geometry_msgs::PointStamped& t_in, geometry_msgs::PointStamped& t_out, const tf3::TransformStampedMsg& transform) void doTransform(const robot_geometry_msgs::PointStamped& t_in, robot_geometry_msgs::PointStamped& t_out, const tf3::TransformStampedMsg& transform)
{ {
doTransform(t_in.point, t_out.point, transform); doTransform(t_in.point, t_out.point, transform);
t_out.header.stamp = data_convert::convertTime(transform.header.stamp); t_out.header.stamp = data_convert::convertTime(transform.header.stamp);
@@ -764,7 +764,7 @@ inline
*/ */
template <> template <>
inline inline
void doTransform(const geometry_msgs::Quaternion& t_in, geometry_msgs::Quaternion& t_out, const tf3::TransformStampedMsg& transform) void doTransform(const robot_geometry_msgs::Quaternion& t_in, robot_geometry_msgs::Quaternion& t_out, const tf3::TransformStampedMsg& transform)
{ {
tf3::Quaternion t, q_in; tf3::Quaternion t, q_in;
fromMsg(transform.transform.rotation, t); fromMsg(transform.transform.rotation, t);
@@ -782,7 +782,7 @@ void doTransform(const geometry_msgs::Quaternion& t_in, geometry_msgs::Quaternio
*/ */
template <> template <>
inline inline
void doTransform(const geometry_msgs::QuaternionStamped& t_in, geometry_msgs::QuaternionStamped& t_out, const tf3::TransformStampedMsg& transform) void doTransform(const robot_geometry_msgs::QuaternionStamped& t_in, robot_geometry_msgs::QuaternionStamped& t_out, const tf3::TransformStampedMsg& transform)
{ {
doTransform(t_in.quaternion, t_out.quaternion, transform); doTransform(t_in.quaternion, t_out.quaternion, transform);
t_out.header.stamp = data_convert::convertTime(transform.header.stamp); t_out.header.stamp = data_convert::convertTime(transform.header.stamp);
@@ -798,7 +798,7 @@ void doTransform(const geometry_msgs::QuaternionStamped& t_in, geometry_msgs::Qu
*/ */
template <> template <>
inline inline
void doTransform(const geometry_msgs::Pose& t_in, geometry_msgs::Pose& t_out, const tf3::TransformStampedMsg& transform) void doTransform(const robot_geometry_msgs::Pose& t_in, robot_geometry_msgs::Pose& t_out, const tf3::TransformStampedMsg& transform)
{ {
@@ -834,7 +834,7 @@ void doTransform(const geometry_msgs::Pose& t_in, geometry_msgs::Pose& t_out, co
*/ */
template <> template <>
inline inline
void doTransform(const geometry_msgs::PoseStamped& t_in, geometry_msgs::PoseStamped& t_out, const tf3::TransformStampedMsg& transform) void doTransform(const robot_geometry_msgs::PoseStamped& t_in, robot_geometry_msgs::PoseStamped& t_out, const tf3::TransformStampedMsg& transform)
{ {
doTransform(t_in.pose, t_out.pose, transform); doTransform(t_in.pose, t_out.pose, transform);
t_out.header.stamp = data_convert::convertTime(transform.header.stamp); t_out.header.stamp = data_convert::convertTime(transform.header.stamp);
@@ -938,7 +938,7 @@ transformCovariance(const boost::array<double, 36>& cov_in, const Transform& tra
*/ */
template <> template <>
inline inline
void doTransform(const geometry_msgs::PoseWithCovarianceStamped& t_in, geometry_msgs::PoseWithCovarianceStamped& t_out, const tf3::TransformStampedMsg& transform) void doTransform(const robot_geometry_msgs::PoseWithCovarianceStamped& t_in, robot_geometry_msgs::PoseWithCovarianceStamped& t_out, const tf3::TransformStampedMsg& transform)
{ {
tf3::Vector3 v; tf3::Vector3 v;
fromMsg(t_in.pose.pose.position, v); fromMsg(t_in.pose.pose.position, v);
@@ -963,7 +963,7 @@ void doTransform(const geometry_msgs::PoseWithCovarianceStamped& t_in, geometry_
*/ */
template <> template <>
inline inline
void doTransform(const geometry_msgs::TransformStamped& t_in, geometry_msgs::TransformStamped& t_out, const tf3::TransformStampedMsg& transform) void doTransform(const robot_geometry_msgs::TransformStamped& t_in, robot_geometry_msgs::TransformStamped& t_out, const tf3::TransformStampedMsg& transform)
{ {
tf3::Transform input = data_convert::convertTotf3Transform(t_in); tf3::Transform input = data_convert::convertTotf3Transform(t_in);
@@ -984,7 +984,7 @@ void doTransform(const geometry_msgs::TransformStamped& t_in, geometry_msgs::Tra
*/ */
template <> template <>
inline inline
void doTransform(const geometry_msgs::Vector3& t_in, geometry_msgs::Vector3& t_out, const tf3::TransformStampedMsg& transform) void doTransform(const robot_geometry_msgs::Vector3& t_in, robot_geometry_msgs::Vector3& t_out, const tf3::TransformStampedMsg& transform)
{ {
tf3::Transform t = data_convert::convertTotf3Transform(transform); tf3::Transform t = data_convert::convertTotf3Transform(transform);
tf3::Vector3 v_out = t.getBasis() * tf3::Vector3(t_in.x, t_in.y, t_in.z); tf3::Vector3 v_out = t.getBasis() * tf3::Vector3(t_in.x, t_in.y, t_in.z);
@@ -1001,7 +1001,7 @@ inline
*/ */
template <> template <>
inline inline
void doTransform(const geometry_msgs::Vector3Stamped& t_in, geometry_msgs::Vector3Stamped& t_out, const tf3::TransformStampedMsg& transform) void doTransform(const robot_geometry_msgs::Vector3Stamped& t_in, robot_geometry_msgs::Vector3Stamped& t_out, const tf3::TransformStampedMsg& transform)
{ {
doTransform(t_in.vector, t_out.vector, transform); doTransform(t_in.vector, t_out.vector, transform);
t_out.header.stamp = data_convert::convertTime(transform.header.stamp); t_out.header.stamp = data_convert::convertTime(transform.header.stamp);
@@ -1014,29 +1014,29 @@ inline
/**********************/ /**********************/
template <> template <>
inline inline
const tf3::Time& getTimestamp(const geometry_msgs::WrenchStamped& t) {return data_convert::convertTime(t.header.stamp);} const tf3::Time& getTimestamp(const robot_geometry_msgs::WrenchStamped& t) {return data_convert::convertTime(t.header.stamp);}
template <> template <>
inline inline
const std::string& getFrameId(const geometry_msgs::WrenchStamped& t) {return t.header.frame_id;} const std::string& getFrameId(const robot_geometry_msgs::WrenchStamped& t) {return t.header.frame_id;}
inline inline
geometry_msgs::WrenchStamped toMsg(const geometry_msgs::WrenchStamped& in) robot_geometry_msgs::WrenchStamped toMsg(const robot_geometry_msgs::WrenchStamped& in)
{ {
return in; return in;
} }
inline inline
void fromMsg(const geometry_msgs::WrenchStamped& msg, geometry_msgs::WrenchStamped& out) void fromMsg(const robot_geometry_msgs::WrenchStamped& msg, robot_geometry_msgs::WrenchStamped& out)
{ {
out = msg; out = msg;
} }
inline inline
geometry_msgs::WrenchStamped toMsg(const tf3::Stamped<std::array<tf3::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out) robot_geometry_msgs::WrenchStamped toMsg(const tf3::Stamped<std::array<tf3::Vector3, 2>>& in, robot_geometry_msgs::WrenchStamped & out)
{ {
out.header.stamp = data_convert::convertTime(in.stamp_); out.header.stamp = data_convert::convertTime(in.stamp_);
out.header.frame_id = in.frame_id_; out.header.frame_id = in.frame_id_;
@@ -1047,7 +1047,7 @@ geometry_msgs::WrenchStamped toMsg(const tf3::Stamped<std::array<tf3::Vector3, 2
inline inline
void fromMsg(const geometry_msgs::WrenchStamped& msg, tf3::Stamped<std::array<tf3::Vector3, 2>>& out) void fromMsg(const robot_geometry_msgs::WrenchStamped& msg, tf3::Stamped<std::array<tf3::Vector3, 2>>& out)
{ {
out.stamp_ = data_convert::convertTime(msg.header.stamp); out.stamp_ = data_convert::convertTime(msg.header.stamp);
out.frame_id_ = msg.header.frame_id; out.frame_id_ = msg.header.frame_id;
@@ -1063,7 +1063,7 @@ void fromMsg(const geometry_msgs::WrenchStamped& msg, tf3::Stamped<std::array<tf
template<> template<>
inline inline
void doTransform(const geometry_msgs::Wrench& t_in, geometry_msgs::Wrench& t_out, const tf3::TransformStampedMsg& transform) void doTransform(const robot_geometry_msgs::Wrench& t_in, robot_geometry_msgs::Wrench& t_out, const tf3::TransformStampedMsg& transform)
{ {
doTransform(t_in.force, t_out.force, transform); doTransform(t_in.force, t_out.force, transform);
doTransform(t_in.torque, t_out.torque, transform); doTransform(t_in.torque, t_out.torque, transform);
@@ -1079,7 +1079,7 @@ void doTransform(const geometry_msgs::Wrench& t_in, geometry_msgs::Wrench& t_out
template<> template<>
inline inline
void doTransform(const geometry_msgs::WrenchStamped& t_in, geometry_msgs::WrenchStamped& t_out, const tf3::TransformStampedMsg& transform) void doTransform(const robot_geometry_msgs::WrenchStamped& t_in, robot_geometry_msgs::WrenchStamped& t_out, const tf3::TransformStampedMsg& transform)
{ {
doTransform(t_in.wrench, t_out.wrench, transform); doTransform(t_in.wrench, t_out.wrench, transform);
t_out.header.stamp = data_convert::convertTime(transform.header.stamp); t_out.header.stamp = data_convert::convertTime(transform.header.stamp);
@@ -1088,4 +1088,4 @@ void doTransform(const geometry_msgs::WrenchStamped& t_in, geometry_msgs::Wrench
} // namespace } // namespace
#endif // TF3_GEOMETRY_MSGS_H #endif // ROBOT_TF3_GEOMETRY_MSGS_H

26
robot_tf3_geometry_msgs/package.xml Normal file
View File

@@ -0,0 +1,26 @@
<package>
<name>robot_tf3_geometry_msgs</name>
<version>0.7.10</version>
<description>
robot_tf3_geometry_msgs is the second generation of the transform library, which lets
the user keep track of multiple coordinate frames over time. robot_tf3_geometry_msgs
maintains the relationship between coordinate frames in a tree
structure buffered in time, and lets the user transform points,
vectors, etc between any two coordinate frames at any desired
point in time.
</description>
<author>Tully Foote</author>
<author>Eitan Marder-Eppstein</author>
<author>Wim Meeussen</author>
<maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
<license>BSD</license>
<url type="website">http://www.ros.org/wiki/robot_tf3_geometry_msgs</url>
<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>libconsole-bridge-dev</build_depend>
<run_depend>libconsole-bridge-dev</run_depend>
</package>

24
tf3_geometry_msgs/test/test_tf2_geometry_msgs.cpp → robot_tf3_geometry_msgs/test/test_tf2_geometry_msgs.cpp
View File

@@ -33,7 +33,7 @@
// #include <ros/ros.h> // #include <ros/ros.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <tf3/buffer_core.h> #include <tf3/buffer_core.h>
#include <tf3_geometry_msgs/tf3_geometry_msgs.h> #include <robot_tf3_geometry_msgs/tf3_geometry_msgs.h>
#include <data_convert/data_convert.h> #include <data_convert/data_convert.h>
tf3::BufferCore* tf_buffer; tf3::BufferCore* tf_buffer;
@@ -43,7 +43,7 @@ static const double EPS = 1e-3;
TEST(TfGeometry, Frame) TEST(TfGeometry, Frame)
{ {
geometry_msgs::PoseStamped v1; robot_geometry_msgs::PoseStamped v1;
v1.pose.position.x = 1; v1.pose.position.x = 1;
v1.pose.position.y = 2; v1.pose.position.y = 2;
v1.pose.position.z = 3; v1.pose.position.z = 3;
@@ -55,9 +55,9 @@ TEST(TfGeometry, Frame)
v1.header.frame_id = "A"; v1.header.frame_id = "A";
// simple api // simple api
// geometry_msgs::PoseStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0)); // robot_geometry_msgs::PoseStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
// std::cout << "STEP 2" << std::endl; // std::cout << "STEP 2" << std::endl;
geometry_msgs::PoseStamped v_simple = v1; robot_geometry_msgs::PoseStamped v_simple = v1;
// std::cout << "lookupTransform call:" << std::endl; // std::cout << "lookupTransform call:" << std::endl;
tf3::TransformStampedMsg tfm = tf_buffer->lookupTransform( tf3::TransformStampedMsg tfm = tf_buffer->lookupTransform(
@@ -86,7 +86,7 @@ TEST(TfGeometry, Frame)
EXPECT_NEAR(v_simple.pose.orientation.w, 1.0, EPS); EXPECT_NEAR(v_simple.pose.orientation.w, 1.0, EPS);
// advanced api // advanced api
// geometry_msgs::PoseStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0), // robot_geometry_msgs::PoseStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
// "A", ros::Duration(3.0)); // "A", ros::Duration(3.0));
tf3::TransformStampedMsg tfm1 = tf_buffer->lookupTransform( tf3::TransformStampedMsg tfm1 = tf_buffer->lookupTransform(
@@ -95,7 +95,7 @@ TEST(TfGeometry, Frame)
data_convert::convertTime(robot::Time(2.0)) data_convert::convertTime(robot::Time(2.0))
); );
geometry_msgs::PoseStamped v_advanced = v1; // hoặc v1 robot_geometry_msgs::PoseStamped v_advanced = v1; // hoặc v1
tf3::doTransform(v1, v_advanced, tfm1); tf3::doTransform(v1, v_advanced, tfm1);
// std::cout << v_advanced.pose.position.x << " , " // std::cout << v_advanced.pose.position.x << " , "
// << v_advanced.pose.position.y << " , " // << v_advanced.pose.position.y << " , "
@@ -116,7 +116,7 @@ TEST(TfGeometry, Frame)
TEST(TfGeometry, PoseWithCovarianceStamped) TEST(TfGeometry, PoseWithCovarianceStamped)
{ {
geometry_msgs::PoseWithCovarianceStamped v1; robot_geometry_msgs::PoseWithCovarianceStamped v1;
v1.pose.pose.position.x = 1; v1.pose.pose.position.x = 1;
v1.pose.pose.position.y = 2; v1.pose.pose.position.y = 2;
v1.pose.pose.position.z = 3; v1.pose.pose.position.z = 3;
@@ -138,7 +138,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
// simple api // simple api
geometry_msgs::PoseWithCovarianceStamped v_simple; robot_geometry_msgs::PoseWithCovarianceStamped v_simple;
tf3::TransformStampedMsg tfm1 = tf_buffer->lookupTransform( tf3::TransformStampedMsg tfm1 = tf_buffer->lookupTransform(
"B", // frame đích "B", // frame đích
"A", // frame nguồn "A", // frame nguồn
@@ -170,7 +170,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
EXPECT_NEAR(v_simple.pose.covariance[35], 1.0, EPS); EXPECT_NEAR(v_simple.pose.covariance[35], 1.0, EPS);
// advanced api // advanced api
geometry_msgs::PoseWithCovarianceStamped v_advanced; robot_geometry_msgs::PoseWithCovarianceStamped v_advanced;
tf3::TransformStampedMsg tfm2 = tf_buffer->lookupTransform( tf3::TransformStampedMsg tfm2 = tf_buffer->lookupTransform(
"B", // frame đích "B", // frame đích
"A", // frame nguồn "A", // frame nguồn
@@ -178,7 +178,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
); );
tf3::doTransform(v1, v_advanced, tfm2); tf3::doTransform(v1, v_advanced, tfm2);
// const geometry_msgs::PoseWithCovarianceStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0), // const robot_geometry_msgs::PoseWithCovarianceStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
// "A", ros::Duration(3.0)); // "A", ros::Duration(3.0));
std::cout << v_advanced.pose.pose.position.x << " , " std::cout << v_advanced.pose.pose.position.x << " , "
<< v_advanced.pose.pose.position.y << " , " << v_advanced.pose.pose.position.y << " , "
@@ -206,7 +206,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
/** now add rotation to transform to test the effect on covariance **/ /** now add rotation to transform to test the effect on covariance **/
// rotate pi/2 radians about x-axis // rotate pi/2 radians about x-axis
geometry_msgs::TransformStamped t_rot; robot_geometry_msgs::TransformStamped t_rot;
tf3::Quaternion q_rot = tf3::Quaternion(tf3::Vector3(1,0,0), M_PI/2); tf3::Quaternion q_rot = tf3::Quaternion(tf3::Vector3(1,0,0), M_PI/2);
t_rot.transform.rotation.x = q_rot.x(); t_rot.transform.rotation.x = q_rot.x();
t_rot.transform.rotation.y = q_rot.y(); t_rot.transform.rotation.y = q_rot.y();
@@ -224,7 +224,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
v1.pose.covariance[12] = 1; v1.pose.covariance[12] = 1;
// perform rotation // perform rotation
geometry_msgs::PoseWithCovarianceStamped v_rotated; robot_geometry_msgs::PoseWithCovarianceStamped v_rotated;
tf3::TransformStampedMsg tfm3 = tf_buffer->lookupTransform( tf3::TransformStampedMsg tfm3 = tf_buffer->lookupTransform(
"rotated", // frame đích "rotated", // frame đích
"A", // frame nguồn "A", // frame nguồn

116
tf3_geometry_msgs/test/test_tomsg_frommsg.cpp → robot_tf3_geometry_msgs/test/test_tomsg_frommsg.cpp
View File

@@ -30,7 +30,7 @@
/** \author Wim Meeussen */ /** \author Wim Meeussen */
#include <tf3_geometry_msgs/tf3_geometry_msgs.h> #include <robot_tf3_geometry_msgs/tf3_geometry_msgs.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
static const double EPS = 1e-6; static const double EPS = 1e-6;
@@ -40,7 +40,7 @@ tf3::Vector3 get_tf3_vector()
return tf3::Vector3(1.0, 2.0, 3.0); return tf3::Vector3(1.0, 2.0, 3.0);
} }
geometry_msgs::Vector3& value_initialize(geometry_msgs::Vector3 &m1) robot_geometry_msgs::Vector3& value_initialize(robot_geometry_msgs::Vector3 &m1)
{ {
m1.x = 1; m1.x = 1;
m1.y = 2; m1.y = 2;
@@ -48,21 +48,21 @@ geometry_msgs::Vector3& value_initialize(geometry_msgs::Vector3 &m1)
return m1; return m1;
} }
std_msgs::Header& value_initialize(std_msgs::Header & h) robot_std_msgs::Header& value_initialize(robot_std_msgs::Header & h)
{ {
h.stamp = robot::Time(10); h.stamp = robot::Time(10);
h.frame_id = "foobar"; h.frame_id = "foobar";
return h; return h;
} }
geometry_msgs::Vector3Stamped& value_initialize(geometry_msgs::Vector3Stamped &m1) robot_geometry_msgs::Vector3Stamped& value_initialize(robot_geometry_msgs::Vector3Stamped &m1)
{ {
value_initialize(m1.header); value_initialize(m1.header);
value_initialize(m1.vector); value_initialize(m1.vector);
return m1; return m1;
} }
geometry_msgs::Point& value_initialize(geometry_msgs::Point &m1) robot_geometry_msgs::Point& value_initialize(robot_geometry_msgs::Point &m1)
{ {
m1.x = 1; m1.x = 1;
m1.y = 2; m1.y = 2;
@@ -70,14 +70,14 @@ geometry_msgs::Point& value_initialize(geometry_msgs::Point &m1)
return m1; return m1;
} }
geometry_msgs::PointStamped& value_initialize(geometry_msgs::PointStamped &m1) robot_geometry_msgs::PointStamped& value_initialize(robot_geometry_msgs::PointStamped &m1)
{ {
value_initialize(m1.header); value_initialize(m1.header);
value_initialize(m1.point); value_initialize(m1.point);
return m1; return m1;
} }
geometry_msgs::Quaternion & value_initialize(geometry_msgs::Quaternion &m1) robot_geometry_msgs::Quaternion & value_initialize(robot_geometry_msgs::Quaternion &m1)
{ {
m1.x = 0; m1.x = 0;
m1.y = 0; m1.y = 0;
@@ -86,42 +86,42 @@ geometry_msgs::Quaternion & value_initialize(geometry_msgs::Quaternion &m1)
return m1; return m1;
} }
geometry_msgs::QuaternionStamped& value_initialize(geometry_msgs::QuaternionStamped &m1) robot_geometry_msgs::QuaternionStamped& value_initialize(robot_geometry_msgs::QuaternionStamped &m1)
{ {
value_initialize(m1.header); value_initialize(m1.header);
value_initialize(m1.quaternion); value_initialize(m1.quaternion);
return m1; return m1;
} }
geometry_msgs::Pose & value_initialize(geometry_msgs::Pose & m1) robot_geometry_msgs::Pose & value_initialize(robot_geometry_msgs::Pose & m1)
{ {
value_initialize(m1.position); value_initialize(m1.position);
value_initialize(m1.orientation); value_initialize(m1.orientation);
return m1; return m1;
} }
geometry_msgs::PoseStamped& value_initialize(geometry_msgs::PoseStamped &m1) robot_geometry_msgs::PoseStamped& value_initialize(robot_geometry_msgs::PoseStamped &m1)
{ {
value_initialize(m1.header); value_initialize(m1.header);
value_initialize(m1.pose); value_initialize(m1.pose);
return m1; return m1;
} }
geometry_msgs::Transform & value_initialize(geometry_msgs::Transform & m1) robot_geometry_msgs::Transform & value_initialize(robot_geometry_msgs::Transform & m1)
{ {
value_initialize(m1.translation); value_initialize(m1.translation);
value_initialize(m1.rotation); value_initialize(m1.rotation);
return m1; return m1;
} }
geometry_msgs::TransformStamped& value_initialize(geometry_msgs::TransformStamped &m1) robot_geometry_msgs::TransformStamped& value_initialize(robot_geometry_msgs::TransformStamped &m1)
{ {
value_initialize(m1.header); value_initialize(m1.header);
value_initialize(m1.transform); value_initialize(m1.transform);
return m1; return m1;
} }
void expect_near(const std_msgs::Header & h1, const std_msgs::Header & h2) void expect_near(const robot_std_msgs::Header & h1, const robot_std_msgs::Header & h2)
{ {
EXPECT_NEAR(h1.stamp.toSec(), h2.stamp.toSec(), EPS); EXPECT_NEAR(h1.stamp.toSec(), h2.stamp.toSec(), EPS);
EXPECT_STREQ(h1.frame_id.c_str(), h2.frame_id.c_str()); EXPECT_STREQ(h1.frame_id.c_str(), h2.frame_id.c_str());
@@ -130,14 +130,14 @@ void expect_near(const std_msgs::Header & h1, const std_msgs::Header & h2)
/* /*
* Vector3 * Vector3
*/ */
void expect_near(const geometry_msgs::Vector3 & v1, const tf3::Vector3 & v2) void expect_near(const robot_geometry_msgs::Vector3 & v1, const tf3::Vector3 & v2)
{ {
EXPECT_NEAR(v1.x, v2.x(), EPS); EXPECT_NEAR(v1.x, v2.x(), EPS);
EXPECT_NEAR(v1.y, v2.y(), EPS); EXPECT_NEAR(v1.y, v2.y(), EPS);
EXPECT_NEAR(v1.z, v2.z(), EPS); EXPECT_NEAR(v1.z, v2.z(), EPS);
} }
void expect_near(const geometry_msgs::Vector3 & v1, const geometry_msgs::Vector3 & v2) void expect_near(const robot_geometry_msgs::Vector3 & v1, const robot_geometry_msgs::Vector3 & v2)
{ {
EXPECT_NEAR(v1.x, v2.x, EPS); EXPECT_NEAR(v1.x, v2.x, EPS);
EXPECT_NEAR(v1.y, v2.y, EPS); EXPECT_NEAR(v1.y, v2.y, EPS);
@@ -151,7 +151,7 @@ void expect_near(const tf3::Vector3 & v1, const tf3::Vector3 & v2)
EXPECT_NEAR(v1.z(), v2.z(), EPS); EXPECT_NEAR(v1.z(), v2.z(), EPS);
} }
void expect_near(const geometry_msgs::Vector3Stamped & p1, const geometry_msgs::Vector3Stamped & p2) void expect_near(const robot_geometry_msgs::Vector3Stamped & p1, const robot_geometry_msgs::Vector3Stamped & p2)
{ {
expect_near(p1.header, p2.header); expect_near(p1.header, p2.header);
expect_near(p1.vector, p2.vector); expect_near(p1.vector, p2.vector);
@@ -160,21 +160,21 @@ void expect_near(const geometry_msgs::Vector3Stamped & p1, const geometry_msgs::
/* /*
* Point * Point
*/ */
void expect_near(const geometry_msgs::Point & p1, const tf3::Vector3 & v2) void expect_near(const robot_geometry_msgs::Point & p1, const tf3::Vector3 & v2)
{ {
EXPECT_NEAR(p1.x, v2.x(), EPS); EXPECT_NEAR(p1.x, v2.x(), EPS);
EXPECT_NEAR(p1.y, v2.y(), EPS); EXPECT_NEAR(p1.y, v2.y(), EPS);
EXPECT_NEAR(p1.z, v2.z(), EPS); EXPECT_NEAR(p1.z, v2.z(), EPS);
} }
void expect_near(const geometry_msgs::Point & p1, const geometry_msgs::Point & v2) void expect_near(const robot_geometry_msgs::Point & p1, const robot_geometry_msgs::Point & v2)
{ {
EXPECT_NEAR(p1.x, v2.x, EPS); EXPECT_NEAR(p1.x, v2.x, EPS);
EXPECT_NEAR(p1.y, v2.y, EPS); EXPECT_NEAR(p1.y, v2.y, EPS);
EXPECT_NEAR(p1.z, v2.z, EPS); EXPECT_NEAR(p1.z, v2.z, EPS);
} }
void expect_near(const geometry_msgs::PointStamped & p1, const geometry_msgs::PointStamped & p2) void expect_near(const robot_geometry_msgs::PointStamped & p1, const robot_geometry_msgs::PointStamped & p2)
{ {
expect_near(p1.header, p2.header); expect_near(p1.header, p2.header);
expect_near(p1.point, p2.point); expect_near(p1.point, p2.point);
@@ -184,21 +184,21 @@ void expect_near(const geometry_msgs::PointStamped & p1, const geometry_msgs::Po
/* /*
* Quaternion * Quaternion
*/ */
void expect_near(const geometry_msgs::Quaternion & q1, const tf3::Quaternion & v2) void expect_near(const robot_geometry_msgs::Quaternion & q1, const tf3::Quaternion & v2)
{ {
EXPECT_NEAR(q1.x, v2.x(), EPS); EXPECT_NEAR(q1.x, v2.x(), EPS);
EXPECT_NEAR(q1.y, v2.y(), EPS); EXPECT_NEAR(q1.y, v2.y(), EPS);
EXPECT_NEAR(q1.z, v2.z(), EPS); EXPECT_NEAR(q1.z, v2.z(), EPS);
} }
void expect_near(const geometry_msgs::Quaternion & q1, const geometry_msgs::Quaternion & v2) void expect_near(const robot_geometry_msgs::Quaternion & q1, const robot_geometry_msgs::Quaternion & v2)
{ {
EXPECT_NEAR(q1.x, v2.x, EPS); EXPECT_NEAR(q1.x, v2.x, EPS);
EXPECT_NEAR(q1.y, v2.y, EPS); EXPECT_NEAR(q1.y, v2.y, EPS);
EXPECT_NEAR(q1.z, v2.z, EPS); EXPECT_NEAR(q1.z, v2.z, EPS);
} }
void expect_near(const geometry_msgs::QuaternionStamped & p1, const geometry_msgs::QuaternionStamped & p2) void expect_near(const robot_geometry_msgs::QuaternionStamped & p1, const robot_geometry_msgs::QuaternionStamped & p2)
{ {
expect_near(p1.header, p2.header); expect_near(p1.header, p2.header);
expect_near(p1.quaternion, p2.quaternion); expect_near(p1.quaternion, p2.quaternion);
@@ -207,19 +207,19 @@ void expect_near(const geometry_msgs::QuaternionStamped & p1, const geometry_msg
/* /*
* Pose * Pose
*/ */
void expect_near(const geometry_msgs::Pose & p, const tf3::Transform & t) void expect_near(const robot_geometry_msgs::Pose & p, const tf3::Transform & t)
{ {
expect_near(p.position, t.getOrigin()); expect_near(p.position, t.getOrigin());
expect_near(p.orientation, t.getRotation()); expect_near(p.orientation, t.getRotation());
} }
void expect_near(const geometry_msgs::Pose & p1, const geometry_msgs::Pose & p2) void expect_near(const robot_geometry_msgs::Pose & p1, const robot_geometry_msgs::Pose & p2)
{ {
expect_near(p1.position, p2.position); expect_near(p1.position, p2.position);
expect_near(p1.orientation, p2.orientation); expect_near(p1.orientation, p2.orientation);
} }
void expect_near(const geometry_msgs::PoseStamped & p1, const geometry_msgs::PoseStamped & p2) void expect_near(const robot_geometry_msgs::PoseStamped & p1, const robot_geometry_msgs::PoseStamped & p2)
{ {
expect_near(p1.header, p2.header); expect_near(p1.header, p2.header);
expect_near(p1.pose, p2.pose); expect_near(p1.pose, p2.pose);
@@ -228,19 +228,19 @@ void expect_near(const geometry_msgs::PoseStamped & p1, const geometry_msgs::Pos
/* /*
* Transform * Transform
*/ */
void expect_near(const geometry_msgs::Transform & p, const tf3::Transform & t) void expect_near(const robot_geometry_msgs::Transform & p, const tf3::Transform & t)
{ {
expect_near(p.translation, t.getOrigin()); expect_near(p.translation, t.getOrigin());
expect_near(p.rotation, t.getRotation()); expect_near(p.rotation, t.getRotation());
} }
void expect_near(const geometry_msgs::Transform & p1, const geometry_msgs::Transform & p2) void expect_near(const robot_geometry_msgs::Transform & p1, const robot_geometry_msgs::Transform & p2)
{ {
expect_near(p1.translation, p2.translation); expect_near(p1.translation, p2.translation);
expect_near(p1.rotation, p2.rotation); expect_near(p1.rotation, p2.rotation);
} }
void expect_near(const geometry_msgs::TransformStamped & p1, const geometry_msgs::TransformStamped & p2) void expect_near(const robot_geometry_msgs::TransformStamped & p1, const robot_geometry_msgs::TransformStamped & p2)
{ {
expect_near(p1.header, p2.header); expect_near(p1.header, p2.header);
expect_near(p1.transform, p2.transform); expect_near(p1.transform, p2.transform);
@@ -260,136 +260,136 @@ void expect_near(const tf3::Stamped<T>& s1, const tf3::Stamped<T>& s2)
* Tests * Tests
*********************/ *********************/
TEST(tf3_geometry_msgs, Vector3) TEST(robot_tf3_geometry_msgs, Vector3)
{ {
geometry_msgs::Vector3 m1; robot_geometry_msgs::Vector3 m1;
value_initialize(m1); value_initialize(m1);
tf3::Vector3 v1; tf3::Vector3 v1;
fromMsg(m1, v1); fromMsg(m1, v1);
SCOPED_TRACE("m1 v1"); SCOPED_TRACE("m1 v1");
expect_near(m1, v1); expect_near(m1, v1);
geometry_msgs::Vector3 m2 = toMsg(v1); robot_geometry_msgs::Vector3 m2 = toMsg(v1);
SCOPED_TRACE("m1 m2"); SCOPED_TRACE("m1 m2");
expect_near(m1, m2); expect_near(m1, m2);
} }
TEST(tf3_geometry_msgs, Point) TEST(robot_tf3_geometry_msgs, Point)
{ {
geometry_msgs::Point m1; robot_geometry_msgs::Point m1;
value_initialize(m1); value_initialize(m1);
tf3::Vector3 v1; tf3::Vector3 v1;
SCOPED_TRACE("m1 v1"); SCOPED_TRACE("m1 v1");
fromMsg(m1, v1); fromMsg(m1, v1);
expect_near(m1, v1); expect_near(m1, v1);
geometry_msgs::Point m2 = toMsg(v1, m2); robot_geometry_msgs::Point m2 = toMsg(v1, m2);
SCOPED_TRACE("m1 m2"); SCOPED_TRACE("m1 m2");
expect_near(m1, m2); expect_near(m1, m2);
} }
TEST(tf3_geometry_msgs, Quaternion) TEST(robot_tf3_geometry_msgs, Quaternion)
{ {
geometry_msgs::Quaternion m1; robot_geometry_msgs::Quaternion m1;
value_initialize(m1); value_initialize(m1);
tf3::Quaternion q1; tf3::Quaternion q1;
SCOPED_TRACE("m1 q1"); SCOPED_TRACE("m1 q1");
fromMsg(m1, q1); fromMsg(m1, q1);
expect_near(m1, q1); expect_near(m1, q1);
geometry_msgs::Quaternion m2 = toMsg(q1); robot_geometry_msgs::Quaternion m2 = toMsg(q1);
SCOPED_TRACE("m1 m2"); SCOPED_TRACE("m1 m2");
expect_near(m1, m2); expect_near(m1, m2);
} }
TEST(tf3_geometry_msgs, Pose) TEST(robot_tf3_geometry_msgs, Pose)
{ {
geometry_msgs::Pose m1; robot_geometry_msgs::Pose m1;
value_initialize(m1); value_initialize(m1);
tf3::Transform t1; tf3::Transform t1;
fromMsg(m1, t1); fromMsg(m1, t1);
SCOPED_TRACE("m1 t1"); SCOPED_TRACE("m1 t1");
expect_near(m1, t1); expect_near(m1, t1);
geometry_msgs::Pose m2 = toMsg(t1, m2); robot_geometry_msgs::Pose m2 = toMsg(t1, m2);
SCOPED_TRACE("m1 m2"); SCOPED_TRACE("m1 m2");
expect_near(m1, m2); expect_near(m1, m2);
} }
TEST(tf3_geometry_msgs, Transform) TEST(robot_tf3_geometry_msgs, Transform)
{ {
geometry_msgs::Transform m1; robot_geometry_msgs::Transform m1;
value_initialize(m1); value_initialize(m1);
tf3::Transform t1; tf3::Transform t1;
fromMsg(m1, t1); fromMsg(m1, t1);
SCOPED_TRACE("m1 t1"); SCOPED_TRACE("m1 t1");
expect_near(m1, t1); expect_near(m1, t1);
geometry_msgs::Transform m2 = toMsg(t1); robot_geometry_msgs::Transform m2 = toMsg(t1);
SCOPED_TRACE("m1 m2"); SCOPED_TRACE("m1 m2");
expect_near(m1, m2); expect_near(m1, m2);
} }
TEST(tf3_geometry_msgs, Vector3Stamped) TEST(robot_tf3_geometry_msgs, Vector3Stamped)
{ {
geometry_msgs::Vector3Stamped m1; robot_geometry_msgs::Vector3Stamped m1;
value_initialize(m1); value_initialize(m1);
tf3::Stamped<tf3::Vector3> v1; tf3::Stamped<tf3::Vector3> v1;
fromMsg(m1, v1); fromMsg(m1, v1);
SCOPED_TRACE("m1 v1"); SCOPED_TRACE("m1 v1");
// expect_near(m1, v1); // expect_near(m1, v1);
geometry_msgs::Vector3Stamped m2; robot_geometry_msgs::Vector3Stamped m2;
m2 = toMsg(v1); m2 = toMsg(v1);
SCOPED_TRACE("m1 m2"); SCOPED_TRACE("m1 m2");
expect_near(m1, m2); expect_near(m1, m2);
} }
TEST(tf3_geometry_msgs, PointStamped) TEST(robot_tf3_geometry_msgs, PointStamped)
{ {
geometry_msgs::PointStamped m1; robot_geometry_msgs::PointStamped m1;
value_initialize(m1); value_initialize(m1);
tf3::Stamped<tf3::Vector3> v1; tf3::Stamped<tf3::Vector3> v1;
fromMsg(m1, v1); fromMsg(m1, v1);
SCOPED_TRACE("m1 v1"); SCOPED_TRACE("m1 v1");
// expect_near(m1, v1); //TODO implement cross verification explicityly // expect_near(m1, v1); //TODO implement cross verification explicityly
geometry_msgs::PointStamped m2; robot_geometry_msgs::PointStamped m2;
m2 = toMsg(v1, m2); m2 = toMsg(v1, m2);
SCOPED_TRACE("m1 m2"); SCOPED_TRACE("m1 m2");
expect_near(m1, m2); expect_near(m1, m2);
} }
TEST(tf3_geometry_msgs, QuaternionStamped) TEST(robot_tf3_geometry_msgs, QuaternionStamped)
{ {
geometry_msgs::QuaternionStamped m1; robot_geometry_msgs::QuaternionStamped m1;
value_initialize(m1); value_initialize(m1);
tf3::Stamped<tf3::Quaternion> v1; tf3::Stamped<tf3::Quaternion> v1;
fromMsg(m1, v1); fromMsg(m1, v1);
SCOPED_TRACE("m1 v1"); SCOPED_TRACE("m1 v1");
// expect_near(m1, v1); //TODO implement cross verification explicityly // expect_near(m1, v1); //TODO implement cross verification explicityly
geometry_msgs::QuaternionStamped m2; robot_geometry_msgs::QuaternionStamped m2;
m2 = tf3::toMsg(v1); m2 = tf3::toMsg(v1);
SCOPED_TRACE("m1 m2"); SCOPED_TRACE("m1 m2");
expect_near(m1, m2); expect_near(m1, m2);
} }
TEST(tf3_geometry_msgs, PoseStamped) TEST(robot_tf3_geometry_msgs, PoseStamped)
{ {
geometry_msgs::PoseStamped m1; robot_geometry_msgs::PoseStamped m1;
value_initialize(m1); value_initialize(m1);
tf3::Stamped<tf3::Transform> v1; tf3::Stamped<tf3::Transform> v1;
SCOPED_TRACE("m1 v1"); SCOPED_TRACE("m1 v1");
fromMsg(m1, v1); fromMsg(m1, v1);
// expect_near(m1, v1); //TODO implement cross verification explicityly // expect_near(m1, v1); //TODO implement cross verification explicityly
geometry_msgs::PoseStamped m2; robot_geometry_msgs::PoseStamped m2;
m2 = tf3::toMsg(v1, m2); m2 = tf3::toMsg(v1, m2);
SCOPED_TRACE("m1 m2"); SCOPED_TRACE("m1 m2");
expect_near(m1, m2); expect_near(m1, m2);
} }
TEST(tf3_geometry_msgs, TransformStamped) TEST(robot_tf3_geometry_msgs, TransformStamped)
{ {
geometry_msgs::TransformStamped m1; robot_geometry_msgs::TransformStamped m1;
value_initialize(m1); value_initialize(m1);
tf3::Stamped<tf3::Transform> v1; tf3::Stamped<tf3::Transform> v1;
fromMsg(m1, v1); fromMsg(m1, v1);
SCOPED_TRACE("m1 v1"); SCOPED_TRACE("m1 v1");
// expect_near(m1, v1); // expect_near(m1, v1);
geometry_msgs::TransformStamped m2; robot_geometry_msgs::TransformStamped m2;
m2 = tf3::toMsg(v1); m2 = tf3::toMsg(v1);
SCOPED_TRACE("m1 m2"); SCOPED_TRACE("m1 m2");
expect_near(m1, m2); expect_near(m1, m2);

34
tf3_sensor_msgs/CMakeLists.txt → robot_tf3_sensor_msgs/CMakeLists.txt
View File

@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.10) cmake_minimum_required(VERSION 3.10)
project(tf3_sensor_msgs) project(robot_tf3_sensor_msgs)
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -21,49 +21,49 @@ include_directories(
${GTEST_INCLUDE_DIRS} ${GTEST_INCLUDE_DIRS}
) )
add_library(tf3_sensor_msgs INTERFACE add_library(robot_tf3_sensor_msgs INTERFACE
) )
target_include_directories(tf3_sensor_msgs target_include_directories(robot_tf3_sensor_msgs
INTERFACE INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include> $<INSTALL_INTERFACE:include>
) )
target_link_libraries(tf3_sensor_msgs INTERFACE target_link_libraries(robot_tf3_sensor_msgs INTERFACE
sensor_msgs robot_sensor_msgs
data_convert data_convert
) )
# --- Cài đặt thư viện vào hệ thống khi chạy make install --- # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
install(TARGETS tf3_sensor_msgs install(TARGETS robot_tf3_sensor_msgs
EXPORT tf3_sensor_msgs-targets EXPORT robot_tf3_sensor_msgs-targets
INCLUDES DESTINATION include # Cài đặt include INCLUDES DESTINATION include # Cài đặt include
) )
# --- Xuất export set tf3_sensor_msgs-targets thành file CMake module --- # --- Xuất export set robot_tf3_sensor_msgs-targets thành file CMake module ---
# --- Tạo file lib/cmake/tf3_sensor_msgs/tf3_sensor_msgs-targets.cmake --- # --- Tạo file lib/cmake/robot_tf3_sensor_msgs/robot_tf3_sensor_msgs-targets.cmake ---
# --- File này chứa cấu hình giúp project khác có thể dùng --- # --- File này chứa cấu hình giúp project khác có thể dùng ---
# --- Find_package(tf3_sensor_msgs REQUIRED) --- # --- Find_package(robot_tf3_sensor_msgs REQUIRED) ---
# --- Target_link_libraries(my_app PRIVATE tf3_sensor_msgs::tf3_sensor_msgs) --- # --- Target_link_libraries(my_app PRIVATE robot_tf3_sensor_msgs::robot_tf3_sensor_msgs) ---
install(EXPORT tf3_sensor_msgs-targets install(EXPORT robot_tf3_sensor_msgs-targets
FILE tf3_sensor_msgs-targets.cmake FILE robot_tf3_sensor_msgs-targets.cmake
NAMESPACE tf3_sensor_msgs:: NAMESPACE robot_tf3_sensor_msgs::
DESTINATION lib/cmake/tf3_sensor_msgs DESTINATION lib/cmake/robot_tf3_sensor_msgs
) )
add_executable(test_tf2_sensor_msgs test/test_tf2_sensor_msgs.cpp) add_executable(test_tf2_sensor_msgs test/test_tf2_sensor_msgs.cpp)
target_include_directories(test_tf2_sensor_msgs PUBLIC target_include_directories(test_tf2_sensor_msgs PUBLIC
${EIGEN3_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}
${GTEST_INCLUDE_DIRS} ${GTEST_INCLUDE_DIRS}
tf3_sensor_msgs robot_tf3_sensor_msgs
geometry_msgs geometry_msgs
tf3 tf3
) )
target_link_libraries(test_tf2_sensor_msgs target_link_libraries(test_tf2_sensor_msgs
${GTEST_LIBRARIES} ${GTEST_LIBRARIES}
Threads::Threads Threads::Threads
tf3_sensor_msgs robot_tf3_sensor_msgs
geometry_msgs geometry_msgs
tf3 tf3
data_convert data_convert

22
tf3_sensor_msgs/include/tf3_sensor_msgs/data_convert.h → robot_tf3_sensor_msgs/include/robot_tf3_sensor_msgs/data_convert.h
View File

@@ -1,10 +1,10 @@
#ifndef DATA_CONVERT_TF3_SENSOR_MSGS_H #ifndef DATA_CONVERT_ROBOT_TF3_SENSOR_MSGS_H
#define DATA_CONVERT_TF3_SENSOR_MSGS_H #define DATA_CONVERT_ROBOT_TF3_SENSOR_MSGS_H
#include <tf3/time.h> #include <tf3/time.h>
#include <tf3/compat.h> #include <tf3/compat.h>
#include <tf3/LinearMath/Transform.h> #include <tf3/LinearMath/Transform.h>
#include <geometry_msgs/TransformStamped.h> #include <robot_geometry_msgs/TransformStamped.h>
#include <robot/time.h> #include <robot/time.h>
#include <cmath> #include <cmath>
@@ -27,15 +27,15 @@ namespace tf3
return time_tmp; return time_tmp;
} }
inline tf3::Quaternion convertQuaternion(const geometry_msgs::Quaternion& q) inline tf3::Quaternion convertQuaternion(const robot_geometry_msgs::Quaternion& q)
{ {
tf3::Quaternion out(q.x,q.y,q.z,q.w); tf3::Quaternion out(q.x,q.y,q.z,q.w);
return out; return out;
} }
inline geometry_msgs::Quaternion convertQuaternion(const tf3::Quaternion& q) inline robot_geometry_msgs::Quaternion convertQuaternion(const tf3::Quaternion& q)
{ {
return geometry_msgs::Quaternion(q.x(),q.y(),q.z(),q.w()); return robot_geometry_msgs::Quaternion(q.x(),q.y(),q.z(),q.w());
} }
inline tf3::Transform convertToTransform(const tf3::TransformStampedMsg& msg) inline tf3::Transform convertToTransform(const tf3::TransformStampedMsg& msg)
@@ -59,7 +59,7 @@ namespace tf3
return out; return out;
} }
inline tf3::Transform convertToTransform(const geometry_msgs::TransformStamped& msg) inline tf3::Transform convertToTransform(const robot_geometry_msgs::TransformStamped& msg)
{ {
tf3::Transform out; tf3::Transform out;
@@ -81,7 +81,7 @@ namespace tf3
} }
inline tf3::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg) inline tf3::TransformStampedMsg convertToTransformStampedMsg(const robot_geometry_msgs::TransformStamped& msg)
{ {
tf3::TransformStampedMsg out; tf3::TransformStampedMsg out;
out.header.seq = msg.header.seq; out.header.seq = msg.header.seq;
@@ -98,9 +98,9 @@ namespace tf3
return out; return out;
} }
inline geometry_msgs::TransformStamped convertToTransformStamped(const tf3::TransformStampedMsg& msg) inline robot_geometry_msgs::TransformStamped convertToTransformStamped(const tf3::TransformStampedMsg& msg)
{ {
geometry_msgs::TransformStamped out; robot_geometry_msgs::TransformStamped out;
out.header.seq = msg.header.seq; out.header.seq = msg.header.seq;
out.header.stamp = convertTime(msg.header.stamp); out.header.stamp = convertTime(msg.header.stamp);
out.header.frame_id = msg.header.frame_id; out.header.frame_id = msg.header.frame_id;
@@ -116,4 +116,4 @@ namespace tf3
} }
} }
#endif // DATA_CONVERT_TF3_SENSOR_MSGS_H #endif // DATA_CONVERT_ROBOT_TF3_SENSOR_MSGS_H

32
tf3_sensor_msgs/include/tf3_sensor_msgs/tf3_sensor_msgs.h → robot_tf3_sensor_msgs/include/robot_tf3_sensor_msgs/tf3_sensor_msgs.h
View File

@@ -27,12 +27,12 @@
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
*/ */
#ifndef TF3_SENSOR_MSGS_H #ifndef ROBOT_TF3_SENSOR_MSGS_H
#define TF3_SENSOR_MSGS_H #define ROBOT_TF3_SENSOR_MSGS_H
#include <tf3/convert.h> #include <tf3/convert.h>
#include <sensor_msgs/PointCloud2.h> #include <robot_sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud2_iterator.h> #include <robot_sensor_msgs/point_cloud2_iterator.h>
#include <Eigen/Eigen> #include <Eigen/Eigen>
#include <Eigen/Geometry> #include <Eigen/Geometry>
#include <data_convert/data_convert.h> #include <data_convert/data_convert.h>
@@ -52,7 +52,7 @@ namespace tf3
*/ */
template <> template <>
inline inline
const tf3::Time& getTimestamp(const sensor_msgs::PointCloud2& p) {return data_convert::convertTime(p.header.stamp);} const tf3::Time& getTimestamp(const robot_sensor_msgs::PointCloud2& p) {return data_convert::convertTime(p.header.stamp);}
/** \brief Extract a frame ID from the header of a PointCloud2 message. /** \brief Extract a frame ID from the header of a PointCloud2 message.
* This function is a specialization of the getFrameId template defined in tf3/convert.h. * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -62,12 +62,12 @@ const tf3::Time& getTimestamp(const sensor_msgs::PointCloud2& p) {return data_co
*/ */
template <> template <>
inline inline
const std::string& getFrameId(const sensor_msgs::PointCloud2 &p) {return p.header.frame_id;} const std::string& getFrameId(const robot_sensor_msgs::PointCloud2 &p) {return p.header.frame_id;}
// this method needs to be implemented by client library developers // this method needs to be implemented by client library developers
template <> template <>
inline inline
void doTransform(const sensor_msgs::PointCloud2 &p_in, sensor_msgs::PointCloud2 &p_out, const tf3::TransformStampedMsg& t_in) void doTransform(const robot_sensor_msgs::PointCloud2 &p_in, robot_sensor_msgs::PointCloud2 &p_out, const tf3::TransformStampedMsg& t_in)
{ {
p_out = p_in; p_out = p_in;
p_out.header.seq = p_in.header.seq; p_out.header.seq = p_in.header.seq;
@@ -78,13 +78,13 @@ void doTransform(const sensor_msgs::PointCloud2 &p_in, sensor_msgs::PointCloud2
t_in.transform.rotation.w, t_in.transform.rotation.x, t_in.transform.rotation.w, t_in.transform.rotation.x,
t_in.transform.rotation.y, t_in.transform.rotation.z); t_in.transform.rotation.y, t_in.transform.rotation.z);
sensor_msgs::PointCloud2ConstIterator<float> x_in(p_in, "x"); robot_sensor_msgs::PointCloud2ConstIterator<float> x_in(p_in, "x");
sensor_msgs::PointCloud2ConstIterator<float> y_in(p_in, "y"); robot_sensor_msgs::PointCloud2ConstIterator<float> y_in(p_in, "y");
sensor_msgs::PointCloud2ConstIterator<float> z_in(p_in, "z"); robot_sensor_msgs::PointCloud2ConstIterator<float> z_in(p_in, "z");
sensor_msgs::PointCloud2Iterator<float> x_out(p_out, "x"); robot_sensor_msgs::PointCloud2Iterator<float> x_out(p_out, "x");
sensor_msgs::PointCloud2Iterator<float> y_out(p_out, "y"); robot_sensor_msgs::PointCloud2Iterator<float> y_out(p_out, "y");
sensor_msgs::PointCloud2Iterator<float> z_out(p_out, "z"); robot_sensor_msgs::PointCloud2Iterator<float> z_out(p_out, "z");
Eigen::Vector3f point; Eigen::Vector3f point;
for(; x_in != x_in.end(); ++x_in, ++y_in, ++z_in, ++x_out, ++y_out, ++z_out) { for(; x_in != x_in.end(); ++x_in, ++y_in, ++z_in, ++x_out, ++y_out, ++z_out) {
@@ -96,16 +96,16 @@ void doTransform(const sensor_msgs::PointCloud2 &p_in, sensor_msgs::PointCloud2
} }
inline inline
sensor_msgs::PointCloud2 toMsg(const sensor_msgs::PointCloud2 &in) robot_sensor_msgs::PointCloud2 toMsg(const robot_sensor_msgs::PointCloud2 &in)
{ {
return in; return in;
} }
inline inline
void fromMsg(const sensor_msgs::PointCloud2 &msg, sensor_msgs::PointCloud2 &out) void fromMsg(const robot_sensor_msgs::PointCloud2 &msg, robot_sensor_msgs::PointCloud2 &out)
{ {
out = msg; out = msg;
} }
} // namespace } // namespace
#endif // TF3_SENSOR_MSGS_H #endif // ROBOT_TF3_SENSOR_MSGS_H

26
robot_tf3_sensor_msgs/package.xml Normal file
View File

@@ -0,0 +1,26 @@
<package>
<name>robot_tf3_sensor_msgs</name>
<version>0.7.10</version>
<description>
robot_tf3_sensor_msgs is the second generation of the transform library, which lets
the user keep track of multiple coordinate frames over time. robot_tf3_sensor_msgs
maintains the relationship between coordinate frames in a tree
structure buffered in time, and lets the user transform points,
vectors, etc between any two coordinate frames at any desired
point in time.
</description>
<author>Tully Foote</author>
<author>Eitan Marder-Eppstein</author>
<author>Wim Meeussen</author>
<maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
<license>BSD</license>
<url type="website">http://www.ros.org/wiki/robot_tf3_sensor_msgs</url>
<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>libconsole-bridge-dev</build_depend>
<run_depend>libconsole-bridge-dev</run_depend>
</package>

36
tf3_sensor_msgs/test/test_tf2_sensor_msgs.cpp → robot_tf3_sensor_msgs/test/test_tf2_sensor_msgs.cpp
View File

@@ -28,8 +28,8 @@
*/ */
#include <tf3_sensor_msgs/tf3_sensor_msgs.h> #include <robot_tf3_sensor_msgs/tf3_sensor_msgs.h>
#include <geometry_msgs/PoseStamped.h> #include <robot_geometry_msgs/PoseStamped.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <tf3/buffer_core.h> #include <tf3/buffer_core.h>
@@ -39,14 +39,14 @@ static const double EPS = 1e-3;
TEST(Tf2Sensor, PointCloud2) TEST(Tf2Sensor, PointCloud2)
{ {
sensor_msgs::PointCloud2 cloud; robot_sensor_msgs::PointCloud2 cloud;
sensor_msgs::PointCloud2Modifier modifier(cloud); robot_sensor_msgs::PointCloud2Modifier modifier(cloud);
modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); modifier.setPointCloud2FieldsByString(2, "xyz", "rgb");
modifier.resize(1); modifier.resize(1);
sensor_msgs::PointCloud2Iterator<float> iter_x(cloud, "x"); robot_sensor_msgs::PointCloud2Iterator<float> iter_x(cloud, "x");
sensor_msgs::PointCloud2Iterator<float> iter_y(cloud, "y"); robot_sensor_msgs::PointCloud2Iterator<float> iter_y(cloud, "y");
sensor_msgs::PointCloud2Iterator<float> iter_z(cloud, "z"); robot_sensor_msgs::PointCloud2Iterator<float> iter_z(cloud, "z");
*iter_x = 1; *iter_x = 1;
*iter_y = 2; *iter_y = 2;
@@ -62,12 +62,12 @@ TEST(Tf2Sensor, PointCloud2)
data_convert::convertTime(robot::Time(2.0)) data_convert::convertTime(robot::Time(2.0))
); );
sensor_msgs::PointCloud2 cloud_simple; // hoặc v1 robot_sensor_msgs::PointCloud2 cloud_simple; // hoặc v1
tf3::doTransform(cloud, cloud_simple, tfm1); tf3::doTransform(cloud, cloud_simple, tfm1);
// sensor_msgs::PointCloud2 cloud_simple = tf_buffer->transform(cloud, "B", ros::Duration(2.0)); // robot_sensor_msgs::PointCloud2 cloud_simple = tf_buffer->transform(cloud, "B", ros::Duration(2.0));
sensor_msgs::PointCloud2Iterator<float> iter_x_after(cloud_simple, "x"); robot_sensor_msgs::PointCloud2Iterator<float> iter_x_after(cloud_simple, "x");
sensor_msgs::PointCloud2Iterator<float> iter_y_after(cloud_simple, "y"); robot_sensor_msgs::PointCloud2Iterator<float> iter_y_after(cloud_simple, "y");
sensor_msgs::PointCloud2Iterator<float> iter_z_after(cloud_simple, "z"); robot_sensor_msgs::PointCloud2Iterator<float> iter_z_after(cloud_simple, "z");
EXPECT_NEAR(*iter_x_after, -9, EPS); EXPECT_NEAR(*iter_x_after, -9, EPS);
EXPECT_NEAR(*iter_y_after, 18, EPS); EXPECT_NEAR(*iter_y_after, 18, EPS);
EXPECT_NEAR(*iter_z_after, 27, EPS); EXPECT_NEAR(*iter_z_after, 27, EPS);
@@ -79,13 +79,13 @@ TEST(Tf2Sensor, PointCloud2)
data_convert::convertTime(robot::Time(2.0)) data_convert::convertTime(robot::Time(2.0))
); );
sensor_msgs::PointCloud2 cloud_advanced; // hoặc v1 robot_sensor_msgs::PointCloud2 cloud_advanced; // hoặc v1
tf3::doTransform(cloud, cloud_advanced, tfm2); tf3::doTransform(cloud, cloud_advanced, tfm2);
// sensor_msgs::PointCloud2 cloud_advanced = tf_buffer->transform(cloud, "B", ros::Time(2.0), // robot_sensor_msgs::PointCloud2 cloud_advanced = tf_buffer->transform(cloud, "B", ros::Time(2.0),
// "A", ros::Duration(3.0)); // "A", ros::Duration(3.0));
sensor_msgs::PointCloud2Iterator<float> iter_x_advanced(cloud_advanced, "x"); robot_sensor_msgs::PointCloud2Iterator<float> iter_x_advanced(cloud_advanced, "x");
sensor_msgs::PointCloud2Iterator<float> iter_y_advanced(cloud_advanced, "y"); robot_sensor_msgs::PointCloud2Iterator<float> iter_y_advanced(cloud_advanced, "y");
sensor_msgs::PointCloud2Iterator<float> iter_z_advanced(cloud_advanced, "z"); robot_sensor_msgs::PointCloud2Iterator<float> iter_z_advanced(cloud_advanced, "z");
EXPECT_NEAR(*iter_x_advanced, -9, EPS); EXPECT_NEAR(*iter_x_advanced, -9, EPS);
EXPECT_NEAR(*iter_y_advanced, 18, EPS); EXPECT_NEAR(*iter_y_advanced, 18, EPS);
EXPECT_NEAR(*iter_z_advanced, 27, EPS); EXPECT_NEAR(*iter_z_advanced, 27, EPS);
@@ -97,7 +97,7 @@ int main(int argc, char **argv){
tf_buffer = new tf3::BufferCore(); tf_buffer = new tf3::BufferCore();
// populate buffer // populate buffer
geometry_msgs::TransformStamped t; robot_geometry_msgs::TransformStamped t;
t.transform.translation.x = 10; t.transform.translation.x = 10;
t.transform.translation.y = 20; t.transform.translation.y = 20;
t.transform.translation.z = 30; t.transform.translation.z = 30;

491
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