remove file data_convert

CMakeLists.txt

@@ -44,6 +44,7 @@ target_link_libraries(laser_geometry PUBLIC
     geometry_msgs
     robot_time
     tf3
+    data_convert
 )
 
 if(TARGET Eigen3::Eigen)

build/CMakeCache.txt

@@ -310,7 +310,7 @@ geometry_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/geometry
 laser_geometry_BINARY_DIR:STATIC=/home/duongtd/robotics_core/laser_geometry/build
 
 //Dependencies for the target
-laser_geometry_LIB_DEPENDS:STATIC=general;robot_time;general;tf2;
+laser_geometry_LIB_DEPENDS:STATIC=general;robot_time;general;tf3;
 
 //Value Computed by CMake
 laser_geometry_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/laser_geometry

build/CMakeFiles/laser_geometry.dir/CXX.includecache

@@ -55,9 +55,9 @@ sys/time.h
 ../include/laser_geometry/data_convert.h
 geometry_msgs/TransformStamped.h
 -
-tf2/utils.h
+tf3/utils.h
 -
-tf2/compat.h
+tf3/compat.h
 -
 robot/time.h
 -
@@ -73,8 +73,8 @@ string
 -
 Eigen/Core
 -
-tf2/buffer_core.h
+tf3/buffer_core.h
-../include/laser_geometry/tf2/buffer_core.h
+../include/laser_geometry/tf3/buffer_core.h
 sensor_msgs/LaserScan.h
 -
 sensor_msgs/PointCloud2.h
@@ -155,12 +155,12 @@ sensor_msgs/LaserScan.h
 -
 sensor_msgs/PointCloud2.h
 -
-tf2/buffer_core.h
+tf3/buffer_core.h
 -
-tf2/convert.h
+tf3/convert.h
 -
-tf2/LinearMath/Transform.h
+tf3/LinearMath/Transform.h
-/home/duongtd/robotics_core/laser_geometry/src/tf2/LinearMath/Transform.h
+/home/duongtd/robotics_core/laser_geometry/src/tf3/LinearMath/Transform.h
 
 /usr/include/eigen3/Eigen/Core
 src/Core/util/DisableStupidWarnings.h

build/CMakeFiles/laser_geometry.dir/link.txt

@@ -1 +1 @@
-/usr/bin/c++ -fPIC   -shared -Wl,-soname,liblaser_geometry.so -o liblaser_geometry.so CMakeFiles/laser_geometry.dir/src/laser_geometry.cpp.o  robot_time_build/librobot_time.a -ltf2 robot_time_build/librobot_time.a 
+/usr/bin/c++ -fPIC   -shared -Wl,-soname,liblaser_geometry.so -o liblaser_geometry.so CMakeFiles/laser_geometry.dir/src/laser_geometry.cpp.o  robot_time_build/librobot_time.a -ltf3 robot_time_build/librobot_time.a 

build/CMakeFiles/projection_test.dir/CXX.includecache

@@ -63,8 +63,8 @@ string
 -
 Eigen/Core
 -
-tf2/buffer_core.h
+tf3/buffer_core.h
-../include/laser_geometry/tf2/buffer_core.h
+../include/laser_geometry/tf3/buffer_core.h
 sensor_msgs/LaserScan.h
 -
 sensor_msgs/PointCloud2.h

build/CMakeFiles/projection_test.dir/link.txt

@@ -1 +1 @@
-/usr/bin/c++     CMakeFiles/projection_test.dir/test/projection_test.cpp.o  -o projection_test  -Wl,-rpath,/home/duongtd/robotics_core/laser_geometry/build liblaser_geometry.so -lpthread robot_time_build/librobot_time.a -ltf2 /usr/local/lib/libgtest_main.a /usr/local/lib/libgtest.a -lpthread 
+/usr/bin/c++     CMakeFiles/projection_test.dir/test/projection_test.cpp.o  -o projection_test  -Wl,-rpath,/home/duongtd/robotics_core/laser_geometry/build liblaser_geometry.so -lpthread robot_time_build/librobot_time.a -ltf3 /usr/local/lib/libgtest_main.a /usr/local/lib/libgtest.a -lpthread 

include/laser_geometry/data_convert.h

@@ -1,100 +0,0 @@
-#ifndef DATA_CONVERT_H
-#define DATA_CONVERT_H
-
-#include <geometry_msgs/TransformStamped.h>
-#include <tf3/utils.h>
-#include <tf3/compat.h>
-#include <robot/time.h>
-
-namespace laser_geometry
-{
-    robot::Time convertTime(tf3::Time time)
-    {
-        robot::Time time_tmp;
-        time_tmp.sec = time.sec;
-        time_tmp.nsec = time.nsec;
-        return time_tmp;
-    }
-
-    tf3::Time convertTime(robot::Time time)
-    {
-        tf3::Time time_tmp;
-        time_tmp.sec = time.sec;
-        time_tmp.nsec = time.nsec;
-        return time_tmp;
-    }
-
-    
-    tf3::Transform convertToTf2Transform(const geometry_msgs::Transform& msg)
-    {
-        tf3::Quaternion q(
-            msg.rotation.x,
-            msg.rotation.y,
-            msg.rotation.z,
-            msg.rotation.w
-        );
-
-        tf3::Vector3 t(
-            msg.translation.x,
-            msg.translation.y,
-            msg.translation.z
-        );
-
-        tf3::Transform tf(q, t);
-        return tf;
-    }
-
-    tf3::Transform convertToTf2Transform(const tf3::TransformMsg& msg)
-    {
-        tf3::Quaternion q(
-            msg.rotation.x,
-            msg.rotation.y,
-            msg.rotation.z,
-            msg.rotation.w
-        );
-
-        tf3::Vector3 t(
-            msg.translation.x,
-            msg.translation.y,
-            msg.translation.z
-        );
-
-        tf3::Transform tf(q, t);
-        return tf;
-    }
-
-    tf3::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg)
-    {
-        tf3::TransformStampedMsg out;
-        out.header.seq = msg.header.seq;
-        out.header.stamp = convertTime(msg.header.stamp);
-        out.header.frame_id = msg.header.frame_id;
-        out.child_frame_id = msg.child_frame_id;
-        out.transform.translation.x = msg.transform.translation.x;
-        out.transform.translation.y = msg.transform.translation.y;
-        out.transform.translation.z = msg.transform.translation.z;
-        out.transform.rotation.x = msg.transform.rotation.x; 
-        out.transform.rotation.y = msg.transform.rotation.y; 
-        out.transform.rotation.z = msg.transform.rotation.z; 
-        out.transform.rotation.w = msg.transform.rotation.w; 
-        return out;
-    }
-    geometry_msgs::TransformStamped convertToTransformStamped(const tf3::TransformStampedMsg& msg)
-    {
-        geometry_msgs::TransformStamped out;
-        out.header.seq = msg.header.seq;
-        out.header.stamp = convertTime(msg.header.stamp);
-        out.header.frame_id = msg.header.frame_id;
-        out.child_frame_id = msg.child_frame_id;
-        out.transform.translation.x = msg.transform.translation.x;
-        out.transform.translation.y = msg.transform.translation.y;
-        out.transform.translation.z = msg.transform.translation.z;
-        out.transform.rotation.x = msg.transform.rotation.x; 
-        out.transform.rotation.y = msg.transform.rotation.y; 
-        out.transform.rotation.z = msg.transform.rotation.z; 
-        out.transform.rotation.w = msg.transform.rotation.w; 
-        return out;
-    }
-}
-
-#endif // DATA_CONVERT_H

src/laser_geometry.cpp

@@ -29,7 +29,7 @@
 // POSSIBILITY OF SUCH DAMAGE.
 
 #include "laser_geometry/laser_geometry.hpp"
-#include "laser_geometry/data_convert.h"
+#include "data_convert/data_convert.h"
 
 #include <Eigen/Core>
 
@@ -436,8 +436,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
     end_time = start_time + duration;
   }
 
-  tf3::Time st = convertTime(start_time);
+  tf3::Time st = data_convert::convertTime(start_time);
-  tf3::Time e = convertTime(end_time);
+  tf3::Time e = data_convert::convertTime(end_time);
 
   tf3::TransformStampedMsg start_transform_msg = tf.lookupTransform(
     target_frame, scan_in.header.frame_id, st);
@@ -445,8 +445,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
   tf3::TransformStampedMsg end_transform_msg = tf.lookupTransform(
     target_frame, scan_in.header.frame_id, e);
 
-  geometry_msgs::TransformStamped start_transform = convertToTransformStamped(start_transform_msg);
+  geometry_msgs::TransformStamped start_transform = data_convert::convertToTransformStamped(start_transform_msg);
-  geometry_msgs::TransformStamped end_transform = convertToTransformStamped(end_transform_msg);
+  geometry_msgs::TransformStamped end_transform = data_convert::convertToTransformStamped(end_transform_msg);
 
   tf3::Quaternion quat_start(start_transform.transform.rotation.x,
     start_transform.transform.rotation.y,