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update to tf3

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This commit is contained in:
duongtd
2025-11-17 15:03:25 +07:00
parent 624f24fdd4
commit 5e9993268f
5 changed files with 64 additions and 64 deletions
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32
include/laser_geometry/data_convert.h
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@@ -2,13 +2,13 @@
#define DATA_CONVERT_H
#include <geometry_msgs/TransformStamped.h>
#include <tf2/utils.h>
#include <tf2/compat.h>
#include <tf3/utils.h>
#include <tf3/compat.h>
#include <robot/time.h>
namespace laser_geometry
{
robot::Time convertTime(tf2::Time time)
robot::Time convertTime(tf3::Time time)
{
robot::Time time_tmp;
time_tmp.sec = time.sec;
@@ -16,56 +16,56 @@ namespace laser_geometry
return time_tmp;
}
tf2::Time convertTime(robot::Time time)
tf3::Time convertTime(robot::Time time)
{
tf2::Time time_tmp;
tf3::Time time_tmp;
time_tmp.sec = time.sec;
time_tmp.nsec = time.nsec;
return time_tmp;
}
tf2::Transform convertToTf2Transform(const geometry_msgs::Transform& msg)
tf3::Transform convertToTf2Transform(const geometry_msgs::Transform& msg)
{
tf2::Quaternion q(
tf3::Quaternion q(
msg.rotation.x,
msg.rotation.y,
msg.rotation.z,
msg.rotation.w
);
tf2::Vector3 t(
tf3::Vector3 t(
msg.translation.x,
msg.translation.y,
msg.translation.z
);
tf2::Transform tf(q, t);
tf3::Transform tf(q, t);
return tf;
}
tf2::Transform convertToTf2Transform(const tf2::TransformMsg& msg)
tf3::Transform convertToTf2Transform(const tf3::TransformMsg& msg)
{
tf2::Quaternion q(
tf3::Quaternion q(
msg.rotation.x,
msg.rotation.y,
msg.rotation.z,
msg.rotation.w
);
tf2::Vector3 t(
tf3::Vector3 t(
msg.translation.x,
msg.translation.y,
msg.translation.z
);
tf2::Transform tf(q, t);
tf3::Transform tf(q, t);
return tf;
}
tf2::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg)
tf3::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg)
{
tf2::TransformStampedMsg out;
tf3::TransformStampedMsg out;
out.header.seq = msg.header.seq;
out.header.stamp = convertTime(msg.header.stamp);
out.header.frame_id = msg.header.frame_id;
@@ -79,7 +79,7 @@ namespace laser_geometry
out.transform.rotation.w = msg.transform.rotation.w;
return out;
}
geometry_msgs::TransformStamped convertToTransformStamped(const tf2::TransformStampedMsg& msg)
geometry_msgs::TransformStamped convertToTransformStamped(const tf3::TransformStampedMsg& msg)
{
geometry_msgs::TransformStamped out;
out.header.seq = msg.header.seq;

16
include/laser_geometry/laser_geometry.hpp
View File

@@ -39,7 +39,7 @@
#include <Eigen/Core> // NOLINT (cpplint cannot handle include order here)
#include "tf2/buffer_core.h"
#include "tf3/buffer_core.h"
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
#include <geometry_msgs/TransformStamped.h>
@@ -142,7 +142,7 @@ public:
* \param target_frame The frame of the resulting point cloud
* \param scan_in The input laser scan
* \param cloud_out The output point cloud
* \param tf a tf2::BufferCore object to use to perform the
* \param tf a tf3::BufferCore object to use to perform the
* transform
* \param range_cutoff An additional range cutoff which can be
* applied to discard everything above it.
@@ -157,7 +157,7 @@ public:
const std::string & target_frame,
const sensor_msgs::LaserScan & scan_in,
sensor_msgs::PointCloud2 & cloud_out,
tf2::BufferCore & tf,
tf3::BufferCore & tf,
double range_cutoff = -1.0,
int channel_options = channel_option::Default)
{
@@ -178,7 +178,7 @@ private:
const std::string & target_frame,
const sensor_msgs::LaserScan & scan_in,
sensor_msgs::PointCloud2 & cloud_out,
tf2::BufferCore & tf,
tf3::BufferCore & tf,
double range_cutoff,
int channel_options);
@@ -187,10 +187,10 @@ private:
const std::string & target_frame,
const sensor_msgs::LaserScan & scan_in,
sensor_msgs::PointCloud2 & cloud_out,
tf2::Quaternion quat_start,
tf2::Vector3 origin_start,
tf2::Quaternion quat_end,
tf2::Vector3 origin_end,
tf3::Quaternion quat_start,
tf3::Vector3 origin_start,
tf3::Quaternion quat_end,
tf3::Vector3 origin_end,
double range_cutoff,
int channel_options);