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Migrating a TransformListener from tf to tf2
Description: This is a guide for converting a tf TransformListener class to a tf2 Listener classTutorial Level: INTERMEDIATE
Contents
Primary difference
The TransformListener uses the public API only and populates an independently allocated tf2::Buffer.
C++
Old Style
Depend on tf package.
1 #include "tf/transform_listener.h"
2 #include "tf/tf.h"
3 tf::TransformListener tfl;
4
5 ros::Time time = ...;
6 ros::Duration timeout(1.0);
7
8 tf::StampedTransform tf;
9 if (!tfl.waitForTransform("target", "source", time, timeout)){
10 # handle lookup error
11 } else {
12 tfl.lookupTransform("target", "source", time, tf);
13 }
Equivalent Replacement
Depend on tf2_ros package and possibly also tf2_geometry_msgs.
1 #include "tf2_ros/buffer.h"
2 #include "tf2_ros/transform_listener.h"
3 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
4
5 tf2_ros::Buffer buffer;
6 tf2_ros::TransformListener tfl(buffer);
7
8 ros::Time time = ...;
9 ros::Duration timeout(1.0);
10
11 geometry_msgs::TransformStamped tfGeom;
12 try {
13 tfGeom = buffer.lookupTransform("target", "source", time, timeout);
14 } catch (tf2::TransformException &e) {
15 # handle lookup error
16 }
17
18 tf2::Stamped<tf2::Transform> tf2;
19 tf2::convert(tfGeom, tf2); # note that tf2 is missing child_frame_id
Python
Old Style
Depend on tf package.
Equivalent Replacement
Depend on tf_ros package.
