tf2_client

Configurable tf2 client wrapper switching between local and remote buffer.

Usage

rospy.init_node('awesome_node')
buffer = tf2_client.get_buffer()
buffer.lookup_transform(target_frame, source_frame, time)

Parameters

• For remote buffer (parameters of tf2_ros.BufferClient):
  • ~tf_server, defaults to None
  • ~tf_check_frequency, None
  • ~tf_timeout_padding, 2.0
• For local buffer (parameters of tf2_ros.Buffer and tf2_ros.TransformListener):
  • ~tf_cache_time, 10.0
  • ~tf_queue_size, None
  • ~tf_buff_size, 65536

Remote buffer is used if parameter ~tf_server is specified.

Changelog for package tf2_client

1.0.0 (2023-05-23)

• Adding default server launcher, with install.
• Cmake refactor, namespaced cpp file, dynamic cast to subclass.
• Fix client/server switch in c++ client.
• Passing private node handle as argument.
• C++ client single node handle, clean up, exporting library.
• Log clearing listener and buffer.
• Allow to clear the listener and buffer if they are not needed any more.
• Fix creating duration object.
• Adding cpp support, clean up of parameter names, conditional param reading.
• Passing Duration object to local Buffer instead of float.
• Initial version (untested).
• Contributors: Martin Pecka, Tomas Petricek