525 lines
24 KiB
ReStructuredText
525 lines
24 KiB
ReStructuredText
^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package tf2
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^^^^^^^^^^^^^^^^^^^^^^^^^
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0.7.10 (2025-05-02)
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-------------------
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* Fix race conditions in MessageFilter (`#539 <https://github.com/ros/geometry2/issues/539>`_)
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* Contributors: Robert Haschke
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0.7.9 (2025-04-25)
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------------------
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0.7.8 (2025-04-10)
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------------------
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* Longer char array for null termination needed (`#514 <https://github.com/ros/geometry2/issues/514>`_)
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* Fixed error message when fixed_frame is not found (`#559 <https://github.com/ros/geometry2/issues/559>`_)
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* Add missing #include to buffer_core.cpp (`#558 <https://github.com/ros/geometry2/issues/558>`_)
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* Contributors: Lucas Walter, Martin Pecka, vslashg
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0.7.7 (2023-10-13)
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------------------
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* fix extra comma that gives annoying build warnings with -Wall and -Wpedantic with g++-9 and assuming most other compilers (`#550 <https://github.com/ros/geometry2/issues/550>`_)
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* Add parent frame to warning logs (`#533 <https://github.com/ros/geometry2/issues/533>`_)
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* Contributors: Jack Zender, Stephan
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0.7.6 (2022-10-11)
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------------------
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* Fix dead loop in message filter (`#532 <https://github.com/ros/geometry2/issues/532>`_)
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* Restore time difference order so future extrapolation exceptions don't show non-sensical negative seconds into the future (`#522 <https://github.com/ros/geometry2/issues/522>`_)
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* Contributors: Feng Zhaolin, Lucas Walter
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0.7.5 (2020-09-01)
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------------------
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* restore buffer sizes
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* Contributors: Tully Foote
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0.7.4 (2020-09-01)
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------------------
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* Fix potential buffer overrun of snprintf (`#479 <https://github.com/ros/geometry2/issues/479>`_)
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* Contributors: Atsushi Watanabe
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0.7.3 (2020-08-25)
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------------------
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* Use snprintf instead of stringstream to increase performance of lookupTransform() in error cases.
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* Do not waste time constructing error string if nobody is interested in it in canTransform(). (`#469 <https://github.com/ros/geometry2/issues/469>`_)
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* Output time difference of extrapolation exceptions (`#477 <https://github.com/ros/geometry2/issues/477>`_)
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* Cherry-picking various commits from Melodic (`#471 <https://github.com/ros/geometry2/issues/471>`_)
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* Revert "rework Eigen functions namespace hack" (`#436 <https://github.com/ros/geometry2/issues/436>`_)
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* Fixed warnings in message_filter.h (`#434 <https://github.com/ros/geometry2/issues/434>`_)
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the variables are not used in function body and caused -Wunused-parameter to trigger with -Wall
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* Fix ambiguous call for tf2::convert on MSVC (`#444 <https://github.com/ros/geometry2/issues/444>`_)
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* rework ambiguous call on MSVC.
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* Contributors: Lucas Walter, Martin Pecka, Robert Haschke
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0.7.2 (2020-06-08)
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------------------
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0.7.1 (2020-05-13)
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------------------
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* Fix to improper ring_45 test, where 'anchor' frame for both inverse and normal transform was frame 'b' instead of frame 'a', thus creating a problem
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* Don't insert a TF frame is one of the same timestamp already exists, instead just overwrite it.
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* [Noetic] Add tf2::Stamped<T>::operator=() to fix warnings downstream (`#453 <https://github.com/ros/geometry2/issues/453>`_)
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* Add tf2::Stamped<T>::operator=()
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* [noetic] cherry-pick Windows fixes from melodic-devel (`#450 <https://github.com/ros/geometry2/issues/450>`_)
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* [Windows][melodic-devel] Fix install locations (`#442 <https://github.com/ros/geometry2/issues/442>`_)
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* fixed install locations of tf2
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* [windows][melodic] more portable fixes. (`#443 <https://github.com/ros/geometry2/issues/443>`_)
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* more portable fixes.
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* Contributors: Patrick Beeson, Robert Haschke, Sean Yen, Shane Loretz
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0.7.0 (2020-03-09)
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------------------
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* Bump CMake version to avoid CMP0048 warning (`#445 <https://github.com/ros/geometry2/issues/445>`_)
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Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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* Fix compile error missing ros/ros.h (`#400 <https://github.com/ros/geometry2/issues/400>`_)
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* ros/ros.h -> ros/time.h
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tf2 package depends on rostime
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* tf2_bullet doesn't need ros.h
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Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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* tf2_eigen doesn't need ros/ros.h
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Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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* Merge pull request `#367 <https://github.com/ros/geometry2/issues/367>`_ from kejxu/add_tf2_namespace_to_avoid_name_collision
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rework Eigen functions namespace hack
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* separate transform function declarations into transform_functions.h
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* use ROS_DEPRECATED macro for portability (`#362 <https://github.com/ros/geometry2/issues/362>`_)
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* use ROS_DEPRECATED for better portability
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* change ROS_DEPRECATED position (`#5 <https://github.com/ros/geometry2/issues/5>`_)
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* Remove `signals` from find_package(Boost COMPONENTS ...).
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tf2 is using signals2, which is not the same library.
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Additionally, signals2 has always been header only, and header only
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libraries must not be listed in find_package.
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Boost 1.69 removed the old signals library entirely, so the otherwise
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useless `COMPONENTS signals` actually breaks the build.
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* Remove legacy inclusion in CMakeLists of tf2.
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* Contributors: James Xu, Maarten de Vries, Marco Tranzatto, Shane Loretz, Tully Foote
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0.6.5 (2018-11-16)
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------------------
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0.6.4 (2018-11-06)
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------------------
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* Resolved pedantic warnings
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* fix issue `#315 <https://github.com/ros/geometry2/issues/315>`_
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* fixed nan interpoaltion issue
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* Contributors: Keller Fabian Rudolf (CC-AD/EYC3), Kuang Fangjun, Martin Ganeff
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0.6.3 (2018-07-09)
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------------------
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* preserve constness of const argument to avoid warnings (`#307 <https://github.com/ros/geometry2/issues/307>`_)
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* Change comment style for unused doxygen (`#297 <https://github.com/ros/geometry2/issues/297>`_)
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* Contributors: Jacob Perron, Tully Foote
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0.6.2 (2018-05-02)
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------------------
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0.6.1 (2018-03-21)
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------------------
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* Replaced deprecated console_bridge macro calls (tests)
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* Contributors: Johannes Meyer, Tully Foote
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0.6.0 (2018-03-21)
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------------------
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* Replaced deprecated log macro calls
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* Contributors: Tim Rakowski, Tully Foote
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0.5.17 (2018-01-01)
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-------------------
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* Merge pull request `#278 <https://github.com/ros/geometry2/issues/278>`_ from ros/chain_as_vec_test2
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Clean up results of _chainAsVector
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* Simple test to check BufferCore::_chainAsVector.
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Unit tests for walk and chain passing now.
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* Merge pull request `#267 <https://github.com/ros/geometry2/issues/267>`_ from at-wat/speedup-timecache-for-large-buffer
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Speed-up TimeCache search for large cache time.
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* Merge pull request `#265 <https://github.com/ros/geometry2/issues/265>`_ from vsherrod/interpolation_fix
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Corrected time output on interpolation function.
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* Add time_interval option to tf2 speed-test.
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* Merge pull request `#269 <https://github.com/ros/geometry2/issues/269>`_ from ros/frames_as_yaml
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allFrameAsYaml consistently outputting a dict
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* resolve https://github.com/ros/geometry/pull/153 at the source instead of needing the workaround.
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* Speed-up TimeCache search for large cache time.
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* Modified tests for correct time in interpolation to existing tests.
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* Corrected time output on interpolation function.
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Added unit test to check for this.
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* Contributors: Atsushi Watanabe, Miguel Prada, Tully Foote, Vallan Sherrod
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0.5.16 (2017-07-14)
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-------------------
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* remove explicit templating to standardize on overloading. But provide backwards compatibility with deprecation.
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* Merge pull request `#144 <https://github.com/ros/geometry2/issues/144>`_ from clearpathrobotics/dead_lock_fix
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Solve a bug that causes a deadlock in MessageFilter
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* Resolve 2 places where the error_msg would not be propogated.
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Fixes `#198 <https://github.com/ros/geometry2/issues/198>`_
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* Remove generate_rand_vectors() from a number of tests. (`#227 <https://github.com/ros/geometry2/issues/227>`_)
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* fixing include directory order to support overlays (`#231 <https://github.com/ros/geometry2/issues/231>`_)
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* replaced dependencies on tf2_msgs_gencpp by exported dependencies
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* Document the lifetime of the returned reference for getFrameId getTimestamp
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* relax normalization tolerance. `#196 <https://github.com/ros/geometry2/issues/196>`_ was too strict for some use cases. (`#220 <https://github.com/ros/geometry2/issues/220>`_)
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* Solve a bug that causes a deadlock in MessageFilter
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* Contributors: Adel Fakih, Chris Lalancette, Christopher Wecht, Tully Foote, dhood
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0.5.15 (2017-01-24)
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-------------------
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0.5.14 (2017-01-16)
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-------------------
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* fixes `#194 <https://github.com/ros/geometry2/issues/194>`_ check for quaternion normalization before inserting into storage (`#196 <https://github.com/ros/geometry2/issues/196>`_)
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* check for quaternion normalization before inserting into storage
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* Add test to check for transform failure on invalid quaternion input
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* updating getAngleShortestPath() (`#187 <https://github.com/ros/geometry2/issues/187>`_)
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* Move internal cache functions into a namespace
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Fixes https://github.com/ros/geometry2/issues/175
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* Link properly to convert.h
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* Landing page for tf2 describing the conversion interface
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* Fix comment on BufferCore::MAX_GRAPH_DEPTH.
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* Contributors: Jackie Kay, Phil Osteen, Tully Foote, alex, gavanderhoorn
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0.5.13 (2016-03-04)
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-------------------
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0.5.12 (2015-08-05)
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-------------------
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* add utilities to get yaw, pitch, roll and identity transform
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* provide more conversions between types
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The previous conversion always assumed that it was converting a
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non-message type to a non-message type. Now, one, both or none
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can be a message or a non-message.
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* Contributors: Vincent Rabaud
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0.5.11 (2015-04-22)
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-------------------
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0.5.10 (2015-04-21)
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-------------------
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* move lct_cache into function local memoryfor `#92 <https://github.com/ros/geometry_experimental/issues/92>`_
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* Clean up range checking. Re: `#92 <https://github.com/ros/geometry_experimental/issues/92>`_
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* Fixed chainToVector
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* release lock before possibly invoking user callbacks. Fixes `#91 <https://github.com/ros/geometry_experimental/issues/91>`_
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* Contributors: Jackie Kay, Tully Foote
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0.5.9 (2015-03-25)
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------------------
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* fixing edge case where two no frame id lookups matched in getLatestCommonTime
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* Contributors: Tully Foote
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0.5.8 (2015-03-17)
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------------------
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* change from default argument to overload to avoid linking issue `#84 <https://github.com/ros/geometry_experimental/issues/84>`_
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* remove useless Makefile files
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* Remove unused assignments in max/min functions
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* change _allFramesAsDot() -> _allFramesAsDot(double current_time)
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* Contributors: Jon Binney, Kei Okada, Tully Foote, Vincent Rabaud
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0.5.7 (2014-12-23)
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------------------
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0.5.6 (2014-09-18)
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------------------
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0.5.5 (2014-06-23)
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------------------
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* convert to use console bridge from upstream debian package https://github.com/ros/rosdistro/issues/4633
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* Fix format string
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* Contributors: Austin, Tully Foote
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0.5.4 (2014-05-07)
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------------------
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* switch to boost signals2 following `ros/ros_comm#267 <https://github.com/ros/ros_comm/issues/267>`_, blocking `ros/geometry#23 <https://github.com/ros/geometry/issues/23>`_
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* Contributors: Tully Foote
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0.5.3 (2014-02-21)
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------------------
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0.5.2 (2014-02-20)
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------------------
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0.5.1 (2014-02-14)
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------------------
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0.5.0 (2014-02-14)
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------------------
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0.4.10 (2013-12-26)
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-------------------
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* updated error message. fixes `#38 <https://github.com/ros/geometry_experimental/issues/38>`_
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* tf2: add missing console bridge include directories (fix `#48 <https://github.com/ros/geometry_experimental/issues/48>`_)
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* Fix const correctness of tf2::Vector3 rotate() method
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The method does not modify the class thus should be const.
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This has already been fixed in Bullet itself.
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* Contributors: Dirk Thomas, Timo Rohling, Tully Foote
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0.4.9 (2013-11-06)
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------------------
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0.4.8 (2013-11-06)
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------------------
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* moving python documentation to tf2_ros from tf2 to follow the code
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* removing legacy rospy dependency. implementation removed in 0.4.0 fixes `#27 <https://github.com/ros/geometry_experimental/issues/27>`_
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0.4.7 (2013-08-28)
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------------------
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* switching to use allFramesAsStringNoLock inside of getLatestCommonTime and walkToParent and locking in public API _getLatestCommonTime instead re `#23 <https://github.com/ros/geometry_experimental/issues/23>`_
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* Fixes a crash in tf's view_frames related to dot code generation in allFramesAsDot
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0.4.6 (2013-08-28)
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------------------
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* cleaner fix for `#19 <https://github.com/ros/geometry_experimental/issues/19>`_
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* fix pointer initialization. Fixes `#19 <https://github.com/ros/geometry_experimental/issues/19>`_
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* fixes `#18 <https://github.com/ros/geometry_experimental/issues/18>`_ for hydro
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* package.xml: corrected typo in description
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0.4.5 (2013-07-11)
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------------------
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* adding _chainAsVector method for https://github.com/ros/geometry/issues/18
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* adding _allFramesAsDot for backwards compatability https://github.com/ros/geometry/issues/18
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0.4.4 (2013-07-09)
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------------------
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* making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change.
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* tf2: Fixes a warning on OS X, but generally safer
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Replaces the use of pointers with shared_ptrs,
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this allows the polymorphism and makes it so that
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the compiler doesn't yell at us about calling
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delete on a class with a public non-virtual
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destructor.
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* tf2: Fixes compiler warnings on OS X
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This exploited a gcc specific extension and is not
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C++ standard compliant. There used to be a "fix"
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for OS X which no longer applies. I think it is ok
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to use this as an int instead of a double, but
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another way to fix it would be to use a define.
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* tf2: Fixes linkedit errors on OS X
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0.4.3 (2013-07-05)
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------------------
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0.4.2 (2013-07-05)
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------------------
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* adding getCacheLength() to parallel old tf API
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* removing legacy static const variable MAX_EXTRAPOLATION_DISTANCE copied from tf unnecessesarily
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0.4.1 (2013-07-05)
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------------------
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* adding old style callback notifications to BufferCore to enable backwards compatability of message filters
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* exposing dedicated thread logic in BufferCore and checking in Buffer
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* more methods to expose, and check for empty cache before getting latest timestamp
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* adding methods to enable backwards compatability for passing through to tf::Transformer
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0.4.0 (2013-06-27)
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------------------
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* splitting rospy dependency into tf2_py so tf2 is pure c++ library.
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* switching to console_bridge from rosconsole
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* moving convert methods back into tf2 because it does not have any ros dependencies beyond robot::Time which is already a dependency of tf2
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* Cleaning up unnecessary dependency on roscpp
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* Cleaning up packaging of tf2 including:
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removing unused nodehandle
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fixing overmatch on search and replace
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cleaning up a few dependencies and linking
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removing old backup of package.xml
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making diff minimally different from tf version of library
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* suppressing bullet LinearMath copy inside of tf2, so it will not collide, and should not be used externally.
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* Restoring test packages and bullet packages.
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reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented
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reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix `#7 <https://github.com/ros/geometry_experimental/issues/7>`_
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* fixing includes in unit tests
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* Make PythonLibs find_package python2 specific
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On systems with python 3 installed and default, find_package(PythonLibs) will find the python 3 paths and libraries. However, the c++ include structure seems to be different in python 3 and tf2 uses includes that are no longer present or deprecated.
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Until the includes are made to be python 3 compliant, we should specify that the version of python found must be python 2.
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0.3.6 (2013-03-03)
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------------------
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0.3.5 (2013-02-15 14:46)
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------------------------
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* 0.3.4 -> 0.3.5
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0.3.4 (2013-02-15 13:14)
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------------------------
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* 0.3.3 -> 0.3.4
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* moving LinearMath includes to include/tf2
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0.3.3 (2013-02-15 11:30)
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------------------------
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* 0.3.2 -> 0.3.3
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* fixing include installation of tf2
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0.3.2 (2013-02-15 00:42)
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------------------------
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* 0.3.1 -> 0.3.2
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* fixed missing include export & tf2_ros dependecy
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0.3.1 (2013-02-14)
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------------------
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* 0.3.0 -> 0.3.1
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* fixing PYTHON installation directory
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0.3.0 (2013-02-13)
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------------------
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* switching to version 0.3.0
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* adding setup.py to tf2 package
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* fixed tf2 exposing python functionality
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* removed line that was killing tf2_ros.so
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* fixing catkin message dependencies
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* removing packages with missing deps
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* adding missing package.xml
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* adding missing package.xml
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* adding missing package.xml
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* catkinizing geometry-experimental
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* removing bullet headers from use in header files
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* removing bullet headers from use in header files
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* merging my recent changes
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* setting child_frame_id overlooked in revision 6a0eec022be0 which fixed failing tests
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* allFramesAsString public and internal methods seperated. Public method is locked, private method is not
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* fixing another scoped lock
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* fixing one scoped lock
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* fixing test compilation
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* merge
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* Error message fix, ros-pkg5085
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* Check if target equals to source before validation
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* When target_frame == source_frame, just returns an identity transform.
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* adding addition ros header includes for strictness
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* Fixed optimized lookups with compound transforms
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* Fixed problem in tf2 optimized branch. Quaternion multiplication order was incorrect
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* fix compilation on 32-bit
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* Josh fix: Final inverse transform composition (missed multiplying the sourcd->top vector by the target->top inverse orientation). b44877d2b054
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* Josh change: fix first/last time case. 46bf33868e0d
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* fix transform accumulation to parent
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* fix parent lookup, now works on the real pr2's tree
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* move the message filter to tf2_ros
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* tf2::MessageFilter + tests. Still need to change it around to pass in a callback queue, since we're being triggered directly from the tf2 buffer
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* Don't add the request if the transform is already available. Add some new tests
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* working transformable callbacks with a simple (incomplete) test case
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* first pass at a transformable callback api, not tested yet
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* add interpolation cases
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* fix getLatestCommonTime -- no longer returns the latest of any of the times
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* Some more optimization -- allow findClosest to inline
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* another minor speedup
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* Minorly speed up canTransform by not requiring the full data lookup, and only looking up the parent
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* Add explicit operator= so that we can see the time in it on a profile graph. Also some minor cleanup
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* minor cleanup
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* add 3 more cases to the speed test
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* Remove use of btTransform at all from transform accumulation, since the conversion to/from is unnecessary, expensive, and can introduce floating point error
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* Don't use btTransform as an intermediate when accumulating transforms, as constructing them takes quite a bit of time
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* Completely remove lookupLists(). canTransform() now uses the same walking code as lookupTransform(). Also fixed a bug in the static transform publisher test
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* Genericise the walk-to-top-parent code in lookupTransform so that it will be able to be used by canTransform as well (minus the cost of actually computing the transform)
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* remove id lookup that wasn't doing anything
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* Some more optimization:
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* Reduce # of TransformStorage copies made in TimeCache::getData()
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* Remove use of lookupLists from getLatestCommonTime
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* lookupTransform() no longer uses lookupLists unless it's called with Time(0). Removes lots of object construction/destruction due to removal of pushing back on the lists
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* Remove CompactFrameID in favor of a typedef
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* these mode checks are no longer necessary
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* Fix crash when testing extrapolation on the forward transforms
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* Update cache unit tests to work with the changes TransformStorage.
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Also make sure that BT_USE_DOUBLE_PRECISION is set for tf2.
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* remove exposure of time_cache.h from buffer_core.h
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* Removed the mutex from TimeCache, as it's unnecessary (BufferCore needs to have its own mutex locked anyway), and this speeds things up by about 20%
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Also fixed a number of thread-safety problems
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* Optimize test_extrapolation a bit, 25% speedup of lookupTransform
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* use a hash map for looking up frame numbers, speeds up lookupTransform by ~8%
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* Cache vectors used for looking up transforms. Speeds up lookupTransform by another 10%
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* speed up lookupTransform by another 25%
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* speed up lookupTransform by another 2x. also reduces the memory footprint of the cache significantly
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* sped up lookupTransform by another 2x
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* First add of a simple speed test
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Sped up lookupTransform 2x
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* roscpp dependency explicit, instead of relying on implicit
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* static transform tested and working
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* tests passing and all throw catches removed too\!
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* validating frame_ids up front for lookup exceptions
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* working with single base class vector
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* tests passing for static storage
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* making method private for clarity
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* static cache implementation and test
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* cleaning up API doc typos
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* sphinx docs for Buffer
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* new dox mainpage
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* update tf2 manifest
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* commenting out twist
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* Changed cache_time to cache_time_ to follow C++ style guide, also initialized it to actually get things to work
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* no more rand in cache tests
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* Changing tf2_py.cpp to use underscores instead of camelCase
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* removing all old converter functions from transform_datatypes.h
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* removing last references to transform_datatypes.h in tf2
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* transform conversions internalized
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* removing unused datatypes
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* copying bullet transform headers into tf2 and breaking bullet dependency
|
|
* merge
|
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* removing dependency on tf
|
|
* removing include of old tf from tf2
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|
* update doc
|
|
* merge
|
|
* kdl unittest passing
|
|
* Spaces instead of tabs in YAML grrrr
|
|
* Adding quotes for parent
|
|
* canTransform advanced ported
|
|
* Hopefully fixing YAML syntax
|
|
* new version of view_frames in new tf2_tools package
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|
* testing new argument validation and catching bug
|
|
* Python support for debugging
|
|
* merge
|
|
* adding validation of frame_ids in queries with warnings and exceptions where appropriate
|
|
* Exposing ability to get frames as a string
|
|
* A compiling version of YAML debugging interface for BufferCore
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|
* placeholder for tf debug
|
|
* fixing tf:: to tf2:: ns issues and stripping slashes on set in tf2 for backwards compatiabily
|
|
* Adding a python version of the BufferClient
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|
* moving test to new package
|
|
* merging
|
|
* working unit test for BufferCore::lookupTransform
|
|
* removing unused method test and converting NO_PARENT test to new API
|
|
* Adding some comments
|
|
* Moving the python bindings for tf2 to the tf2 package from the tf2_py package
|
|
* buffercore tests upgraded
|
|
* porting tf_unittest while running incrmentally instead of block copy
|
|
* BufferCore::clear ported forward
|
|
* successfully changed lookupTransform advanced to new version
|
|
* switching to new implementation of lookupTransform tests still passing
|
|
* compiling lookupTransform new version
|
|
* removing tf_prefix from BufferCore. BuferCore is independent of any frame_ids. tf_prefix should be implemented at the ROS API level.
|
|
* initializing tf_prefix
|
|
* adding missing initialization
|
|
* suppressing warnings
|
|
* more tests ported
|
|
* removing tests for apis not ported forward
|
|
* setTransform tests ported
|
|
* old tests in new package passing due to backwards dependency. now for the fun, port all 1500 lines :-)
|
|
* setTransform working in new framework as well as old
|
|
* porting more methods
|
|
* more compatability
|
|
* bringing in helper functions for buffer_core from tf.h/cpp
|
|
* rethrowing to new exceptions
|
|
* converting Storage to robot_geometry_msgs::TransformStamped
|
|
* removing deprecated useage
|
|
* cleaning up includes
|
|
* moving all implementations into cpp file
|
|
* switching test to new class from old one
|
|
* Compiling version of the buffer client
|
|
* moving listener to tf_cpp
|
|
* removing listener, it should be in another package
|
|
* most of listener
|
|
* add cantransform implementation
|
|
* removing deprecated API usage
|
|
* initial import of listener header
|
|
* move implementation into library
|
|
* 2 tests of buffer
|
|
* moving executables back into bin
|
|
* compiling again with new design
|
|
* rename tfcore to buffercore
|
|
* almost compiling version of template code
|
|
* compiling tf2_core simple test
|
|
* add test to start compiling
|
|
* copying in tf_unittest for tf_core testing template
|
|
* prototype of tf2_core implemented using old tf.
|
|
* first version of template functions
|
|
* remove timeouts
|
|
* properly naming tf2_core.h from tf_core.h
|
|
* working cache test with tf2 lib
|
|
* first unit test passing, not yet ported
|
|
* tf_core api
|
|
* tf2 v2
|
|
* aborting port
|
|
* moving across time cache tf and datatypes headers
|
|
* copying exceptions from tf
|
|
* switching to tf2 from tf_core
|