Migrate tf to tf2 #208
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Migrate tf to tf2 #208
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jojo43
changed the title
[#534] PASSED on indigoAll tests passed[#534] PASSED on kineticAll tests passed[#534] PASSED on melodicAll tests passed |
Codecov Report
@@ Coverage Diff @@
## master #208 +/- ##
==========================================
+ Coverage 89.54% 90.03% +0.48%
==========================================
Files 17 17
Lines 1473 1465 -8
==========================================
Hits 1319 1319
+ Misses 154 146 -8
Continue to review full report at Codecov.
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[#535] FAILED on indigo
[#535] FAILED on kinetic
[#535] FAILED on melodic
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[#536] PASSED on indigoAll tests passed[#536] PASSED on kineticAll tests passed[#536] PASSED on melodicAll tests passed |
jojo43
changed the title
|
@at-wat Please take a look when you can. |
at-wat
reviewed
Nov 22, 2018
src/mcl_3dl.cpp
Outdated
| @@ -614,10 +612,10 @@ class MCL3dlNode | |||
| map_pos.x_ = f_pos_[0]->in(map_pos.x_); | |||
| map_pos.y_ = f_pos_[1]->in(map_pos.y_); | |||
| map_pos.z_ = f_pos_[2]->in(map_pos.z_); | |||
| trans.setOrigin(tf::Vector3(map_pos.x_, map_pos.y_, map_pos.z_)); | |||
| trans.setRotation(tf::Quaternion(map_rot.x_, map_rot.y_, map_rot.z_, map_rot.w_)); | |||
| tf::vector3TFToMsg(tf::Vector3(map_pos.x_, map_pos.y_, map_pos.z_), trans.transform.translation); | |||
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would be better not to use tf:: functions.
#include <tf/transform_datatypes.h> seems be removable if they are replaced.
[#537] PASSED on melodicAll tests passed[#537] PASSED on indigoAll tests passed[#537] PASSED on kineticAll tests passed |
at-wat
reviewed
Nov 26, 2018
| @@ -37,6 +37,7 @@ | |||
| #include <sensor_msgs/point_cloud2_iterator.h> | |||
| #include <std_srvs/Trigger.h> | |||
| #include <tf/transform_datatypes.h> | |||
| @@ -37,6 +37,7 @@ | |||
| #include <sensor_msgs/point_cloud2_iterator.h> | |||
| #include <std_srvs/Trigger.h> | |||
| #include <tf/transform_datatypes.h> | |||
[#538] PASSED on melodicAll tests passed[#538] PASSED on indigoAll tests passed[#538] PASSED on kineticAll tests passed |
[#539] PASSED on kineticAll tests passed[#539] PASSED on melodicAll tests passed[#539] PASSED on indigoAll tests passed |
|
@at-wat |
at-wat
reviewed
Dec 3, 2018
| sensor_msgs::PointCloud2 pc2_tmp; | ||
| pcl::toROSMsg(*pc_local_accum_, pc2_tmp); | ||
| geometry_msgs::TransformStamped trans = | ||
| tfbuf_.lookupTransform(frame_ids_["base_link"], pc_local_accum_->header.frame_id, ros::Time(0)); |
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stamp should not be 0. there are several same bugs.
Merged
at-wat
reviewed
Dec 4, 2018
| return; | ||
| } | ||
| geometry_msgs::TransformStamped trans = | ||
| tfbuf_.lookupTransform(frame_ids_["odom"], msg->header.frame_id, ros::Time(0)); |
| in.y = acc_measure.y_; | ||
| in.z = acc_measure.z_; | ||
| geometry_msgs::TransformStamped trans = | ||
| tfbuf_.lookupTransform(frame_ids_["base_link"], msg->header.frame_id, ros::Time(0)); |
at-wat
reviewed
Dec 4, 2018
| // Static transform | ||
| tfl_.lookupTransform(frame_ids_["base_link"], msg->header.frame_id, ros::Time(0), trans); | ||
| trans = tfbuf_.lookupTransform(frame_ids_["base_link"], msg->header.frame_id, ros::Time(0)); |
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(this and https://github.com/at-wat/mcl_3dl/pull/208/files#r238511052 should be always static transform (base_link->imu_link) in most case. timestamp is not mandatory to be treated here.)
at-wat
reviewed
Jan 1, 2019
| return; | ||
| } | ||
| sensor_msgs::PointCloud2 pc2_tmp; | ||
| pcl::toROSMsg(*pc_local_accum_, pc2_tmp); |
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toROSMsg -> transform -> fromROSMsg is not good at the performance
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Fix #191