From 95943f78f45173e2974adcec8094261579243619 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Tue, 5 Sep 2023 13:16:52 +0200
Subject: [PATCH 1/2] add torque due to force offset

adapted patch by @pac48 . Taken from https://github.com/ros2/geometry2/pull/538 .
---
 .../include/tf2_geometry_msgs/tf2_geometry_msgs.h      |  7 +++++++
 tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp      | 10 +++++-----
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h b/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h
index f0ef5f74f..fc929e0af 100644
--- a/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h
+++ b/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h
@@ -1040,6 +1040,13 @@ void doTransform(const geometry_msgs::Wrench& t_in, geometry_msgs::Wrench& t_out
 {
   doTransform(t_in.force, t_out.force, transform);
   doTransform(t_in.torque, t_out.torque, transform);
+  // add additional torque created by translating the force
+  tf2::Vector3 offset = {transform.transform.translation.x, transform.transform.translation.y,
+    transform.transform.translation.z};
+  tf2::Vector3 added_torque = offset.cross({t_out.force.x, t_out.force.y, t_out.force.z});
+  t_out.torque.x += added_torque.getX();
+  t_out.torque.y += added_torque.getY();
+  t_out.torque.z += added_torque.getZ();
 }
 
 
diff --git a/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp b/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
index 860db53f6..da5f7e667 100644
--- a/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
+++ b/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
@@ -336,9 +336,9 @@ TEST(TfGeometry, doTransformWrench)
  v1.torque.z = 3;
 
  geometry_msgs::TransformStamped trafo;
- trafo.transform.translation.x = -1;
- trafo.transform.translation.y = 2;
- trafo.transform.translation.z = -3;
+ trafo.transform.translation.x = 0;
+ trafo.transform.translation.y = -2;
+ trafo.transform.translation.z = 0;
  trafo.transform.rotation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0,0,1), -M_PI / 2.0));
 
  tf2::doTransform(v1, res, trafo);
@@ -346,9 +346,9 @@ TEST(TfGeometry, doTransformWrench)
  EXPECT_NEAR(res.force.y, -2, EPS);
  EXPECT_NEAR(res.force.z, 3, EPS);
 
- EXPECT_NEAR(res.torque.x, 1, EPS);
+ EXPECT_NEAR(res.torque.x, -5, EPS);
  EXPECT_NEAR(res.torque.y, -2, EPS);
- EXPECT_NEAR(res.torque.z, 3, EPS);
+ EXPECT_NEAR(res.torque.z, 5, EPS);
 }
 
 int main(int argc, char **argv){

From 9b922e7f0c2888aa8dd62a9837b9ad9ab2a23417 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Fri, 23 Feb 2024 16:12:09 +0900
Subject: [PATCH 2/2] fix catkin_symlink_install error. see
 https://github.com/ros/geometry2/issues/486#issue-751145776

---
 tf2_py/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tf2_py/CMakeLists.txt b/tf2_py/CMakeLists.txt
index bb53f9d35..d522928d1 100644
--- a/tf2_py/CMakeLists.txt
+++ b/tf2_py/CMakeLists.txt
@@ -144,7 +144,7 @@ set_target_properties(tf2_py PROPERTIES
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
-install(FILES $<TARGET_FILE:tf2_py>
+install(TARGETS tf2_py
     DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
 )