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Draft: Break geometry_msgs dependency in tf2 #732

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Draft: Break geometry_msgs dependency in tf2 #732

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eee73eb
Add generic interface to tf2
kyle-basis Nov 11, 2024
62b005d
add *Tf2 versions of functions
kyle-basis Nov 12, 2024
13104aa
uncrustify
kyle-basis Nov 13, 2024
ba44b56
docs
kyle-basis Nov 13, 2024
78b086f
remove pointless virtual
kyle-basis Nov 13, 2024
4e8beb0
first pass of ifdefing out ROS
kyle-basis Nov 13, 2024
916891f
remove dep on rcutils in time
kyle-basis Nov 13, 2024
0662ba1
checkpoint
kyle-basis Nov 21, 2024
b3d1f26
break geometry_msgs dep
kyle-basis Nov 21, 2024
cb472b7
more renames, break a test
kyle-basis Nov 21, 2024
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72 changes: 37 additions & 35 deletions test_tf2/test/buffer_core_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*/


#if _WIN32
#define _USE_MATH_DEFINES
#endif
Expand All @@ -52,7 +53,7 @@
#include <tf2_ros/buffer_interface.h>

#include "permuter.hpp"

#ifdef FIX_SETTRANSFORM
void seed_rand()
{
//Seed random number generator with current time.
Expand Down Expand Up @@ -306,7 +307,7 @@ TEST(BufferCore_setTransform, NoInsertOnSelfTransform)
tf2::BufferCore mBC;
geometry_msgs::msg::TransformStamped tranStamped;
setIdentity(tranStamped.transform);
tranStamped.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(10.0));
tranStamped.header.stamp = tf2::toMsg(tf2::timeFromSec(10.0));
tranStamped.header.frame_id = "same_frame";
tranStamped.child_frame_id = "same_frame";
EXPECT_FALSE(mBC.setTransform(tranStamped, "authority"));
Expand All @@ -317,7 +318,7 @@ TEST(BufferCore_setTransform, NoInsertWithNan)
tf2::BufferCore mBC;
geometry_msgs::msg::TransformStamped tranStamped;
setIdentity(tranStamped.transform);
tranStamped.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(10.0));
tranStamped.header.stamp = tf2::toMsg(tf2::timeFromSec(10.0));
tranStamped.header.frame_id = "same_frame";
tranStamped.child_frame_id = "other_frame";
EXPECT_TRUE(mBC.setTransform(tranStamped, "authority"));
Expand All @@ -331,7 +332,7 @@ TEST(BufferCore_setTransform, NoInsertWithNoFrameID)
tf2::BufferCore mBC;
geometry_msgs::msg::TransformStamped tranStamped;
setIdentity(tranStamped.transform);
tranStamped.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(10.0));
tranStamped.header.stamp = tf2::toMsg(tf2::timeFromSec(10.0));
tranStamped.header.frame_id = "same_frame";
tranStamped.child_frame_id = "";
EXPECT_FALSE(mBC.setTransform(tranStamped, "authority"));
Expand All @@ -345,7 +346,7 @@ TEST(BufferCore_setTransform, NoInsertWithNoParentID)
tf2::BufferCore mBC;
geometry_msgs::msg::TransformStamped tranStamped;
setIdentity(tranStamped.transform);
tranStamped.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(10.0));
tranStamped.header.stamp = tf2::toMsg(tf2::timeFromSec(10.0));
tranStamped.header.frame_id = "";
tranStamped.child_frame_id = "some_frame";
EXPECT_FALSE(mBC.setTransform(tranStamped, "authority"));
Expand Down Expand Up @@ -636,9 +637,9 @@ TEST(BufferCore_lookupTransform, i_configuration)

rostest::Permuter permuter;
std::vector<builtin_interfaces::msg::Time> times;
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(1.0)));
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(10.0)));
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(0.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(1.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(10.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(0.0)));
builtin_interfaces::msg::Time eval_time;
permuter.addOptionSet(times, &eval_time);

Expand All @@ -664,7 +665,7 @@ TEST(BufferCore_lookupTransform, i_configuration)
setupTree(mBC, "i", eval_time, interpolation_space);

geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(
source_frame, target_frame, tf2_ros::fromMsg(
source_frame, target_frame, tf2::fromMsg(
eval_time));

EXPECT_EQ(outpose.header.stamp, eval_time);
Expand Down Expand Up @@ -898,9 +899,9 @@ TEST(BufferCore_lookupTransform, one_link_configuration)
rostest::Permuter permuter;

std::vector<builtin_interfaces::msg::Time> times;
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(1.0)));
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(10.0)));
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(0.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(1.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(10.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(0.0)));
builtin_interfaces::msg::Time eval_time;
permuter.addOptionSet(times, &eval_time);

Expand All @@ -926,7 +927,7 @@ TEST(BufferCore_lookupTransform, one_link_configuration)
setupTree(mBC, "1", eval_time, interpolation_space);

geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(
source_frame, target_frame, tf2_ros::fromMsg(
source_frame, target_frame, tf2::fromMsg(
eval_time));

EXPECT_TRUE(check_1_result(outpose, source_frame, target_frame, eval_time, epsilon));
Expand All @@ -941,9 +942,9 @@ TEST(BufferCore_lookupTransform, v_configuration)
rostest::Permuter permuter;

std::vector<builtin_interfaces::msg::Time> times;
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(1.0)));
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(10.0)));
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(0.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(1.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(10.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(0.0)));
builtin_interfaces::msg::Time eval_time;
permuter.addOptionSet(times, &eval_time);

Expand Down Expand Up @@ -972,7 +973,7 @@ TEST(BufferCore_lookupTransform, v_configuration)
setupTree(mBC, "v", eval_time, interpolation_space);

geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(
source_frame, target_frame, tf2_ros::fromMsg(
source_frame, target_frame, tf2::fromMsg(
eval_time));

EXPECT_TRUE(check_v_result(outpose, source_frame, target_frame, eval_time, epsilon));
Expand All @@ -987,9 +988,9 @@ TEST(BufferCore_lookupTransform, y_configuration)
rostest::Permuter permuter;

std::vector<builtin_interfaces::msg::Time> times;
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(1.0)));
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(10.0)));
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(0.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(1.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(10.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(0.0)));
builtin_interfaces::msg::Time eval_time;
permuter.addOptionSet(times, &eval_time);

Expand Down Expand Up @@ -1018,7 +1019,7 @@ TEST(BufferCore_lookupTransform, y_configuration)
setupTree(mBC, "y", eval_time, interpolation_space);

geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(
source_frame, target_frame, tf2_ros::fromMsg(
source_frame, target_frame, tf2::fromMsg(
eval_time));

EXPECT_TRUE(check_y_result(outpose, source_frame, target_frame, eval_time, epsilon));
Expand All @@ -1032,9 +1033,9 @@ TEST(BufferCore_lookupTransform, multi_configuration)
rostest::Permuter permuter;

std::vector<builtin_interfaces::msg::Time> times;
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(1.0)));
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(10.0)));
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(0.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(1.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(10.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(0.0)));
builtin_interfaces::msg::Time eval_time;
permuter.addOptionSet(times, &eval_time);

Expand Down Expand Up @@ -1064,9 +1065,9 @@ TEST(BufferCore_lookupTransform, multi_configuration)
tf2::BufferCore mBC;
setupTree(mBC, "1_v", eval_time, interpolation_space);

if (mBC.canTransform(source_frame, target_frame, tf2_ros::fromMsg(eval_time))) {
if (mBC.canTransform(source_frame, target_frame, tf2::fromMsg(eval_time))) {
geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(
source_frame, target_frame, tf2_ros::fromMsg(
source_frame, target_frame, tf2::fromMsg(
eval_time));

if ((source_frame == "1" || source_frame == "2") &&
Expand Down Expand Up @@ -1377,9 +1378,9 @@ TEST(BufferCore_lookupTransform, ring_45_configuration)
rostest::Permuter permuter;

std::vector<builtin_interfaces::msg::Time> times;
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(1.0)));
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(10.0)));
times.push_back(tf2_ros::toMsg(tf2::timeFromSec(0.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(1.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(10.0)));
times.push_back(tf2::toMsg(tf2::timeFromSec(0.0)));
builtin_interfaces::msg::Time eval_time;
permuter.addOptionSet(times, &eval_time);

Expand Down Expand Up @@ -1420,7 +1421,7 @@ TEST(BufferCore_lookupTransform, ring_45_configuration)
setupTree(mBC, "ring_45", eval_time, interpolation_space);

geometry_msgs::msg::TransformStamped outpose = mBC.lookupTransform(
source_frame, target_frame, tf2_ros::fromMsg(
source_frame, target_frame, tf2::fromMsg(
eval_time));

EXPECT_EQ(outpose.header.stamp, eval_time);
Expand Down Expand Up @@ -1669,7 +1670,7 @@ TEST(BufferCore_lookupTransform, invalid_arguments)
std::chrono::seconds(0) +
std::chrono::nanoseconds(0));

setupTree(mBC, "i", tf2_ros::toMsg(tf2::timeFromSec(1.0)));
setupTree(mBC, "i", tf2::toMsg(tf2::timeFromSec(1.0)));

// EXPECT_NO_THROW
EXPECT_NO_THROW(mBC.lookupTransform("b", "a", eval_time_time_point));
Expand All @@ -1692,7 +1693,7 @@ TEST(BufferCore_canTransform, invalid_arguments)
std::chrono::seconds(0) +
std::chrono::nanoseconds(0));

setupTree(mBC, "i", tf2_ros::toMsg(tf2::timeFromSec(1.0)));
setupTree(mBC, "i", tf2::toMsg(tf2::timeFromSec(1.0)));

EXPECT_TRUE(mBC.canTransform("b", "a", eval_time_time_point));

Expand Down Expand Up @@ -1736,7 +1737,7 @@ TEST(BufferCore_transformableCallbacks, alreadyTransformable)
TransformableHelper h;

geometry_msgs::msg::TransformStamped t;
t.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(1.0));
t.header.stamp = tf2::toMsg(tf2::timeFromSec(1.0));
t.header.frame_id = "a";
t.child_frame_id = "b";
t.transform.rotation.w = 1.0;
Expand Down Expand Up @@ -1779,7 +1780,7 @@ TEST(BufferCore_transformableCallbacks, waitForNewTransform)

geometry_msgs::msg::TransformStamped t;
for (uint32_t i = 1; i <= 10; ++i) {
t.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(i));
t.header.stamp = tf2::toMsg(tf2::timeFromSec(i));
t.header.frame_id = "a";
t.child_frame_id = "b";
t.transform.rotation.w = 1.0;
Expand Down Expand Up @@ -1814,7 +1815,7 @@ TEST(BufferCore_transformableCallbacks, waitForOldTransform)

geometry_msgs::msg::TransformStamped t;
for (uint32_t i = 10; i > 0; --i) {
t.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(i));
t.header.stamp = tf2::toMsg(tf2::timeFromSec(i));
t.header.frame_id = "a";
t.child_frame_id = "b";
t.transform.rotation.w = 1.0;
Expand Down Expand Up @@ -2782,6 +2783,7 @@ TEST(tf2_stamped, OperatorEqual)

}
*/
#endif
int main(int argc, char ** argv)
{
testing::InitGoogleTest(&argc, argv);
Expand Down
16 changes: 8 additions & 8 deletions test_tf2/test/test_message_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,7 @@ TEST(MessageFilter, noTransforms)

std::shared_ptr<geometry_msgs::msg::PointStamped> msg =
std::make_shared<geometry_msgs::msg::PointStamped>();
msg->header.stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
msg->header.stamp = tf2::toMsg(tf2::timeFromSec(1));
msg->header.frame_id = "frame2";
filter.add(msg);

Expand All @@ -115,7 +115,7 @@ TEST(MessageFilter, noTransformsSameFrame)

std::shared_ptr<geometry_msgs::msg::PointStamped> msg =
std::make_shared<geometry_msgs::msg::PointStamped>();
msg->header.stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
msg->header.stamp = tf2::toMsg(tf2::timeFromSec(1));
msg->header.frame_id = "frame1";
filter.add(msg);

Expand Down Expand Up @@ -157,7 +157,7 @@ TEST(MessageFilter, preexistingTransforms)

filter.registerCallback(std::bind(&Notification::notify, &n, std::placeholders::_1));

builtin_interfaces::msg::Time stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
builtin_interfaces::msg::Time stamp = tf2::toMsg(tf2::timeFromSec(1));
buffer.setTransform(
createTransform(
tf2::Quaternion(0, 0, 0, 1), tf2::Vector3(1, 2, 3), stamp,
Expand Down Expand Up @@ -188,7 +188,7 @@ TEST(MessageFilter, postTransforms)

filter.registerCallback(std::bind(&Notification::notify, &n, std::placeholders::_1));

builtin_interfaces::msg::Time stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
builtin_interfaces::msg::Time stamp = tf2::toMsg(tf2::timeFromSec(1));

std::shared_ptr<geometry_msgs::msg::PointStamped> msg =
std::make_shared<geometry_msgs::msg::PointStamped>();
Expand Down Expand Up @@ -218,7 +218,7 @@ TEST(MessageFilter, concurrentTransforms)

rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);

builtin_interfaces::msg::Time stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
builtin_interfaces::msg::Time stamp = tf2::toMsg(tf2::timeFromSec(1));

std::shared_ptr<geometry_msgs::msg::PointStamped> msg =
std::make_shared<geometry_msgs::msg::PointStamped>();
Expand Down Expand Up @@ -270,7 +270,7 @@ TEST(MessageFilter, concurrentTransforms)
// filter.registerCallback(std::bind(&Notification::notify, &n, std::placeholders::_1));
// // filter.registerFailureCallback(std::bind(&Notification::failure, &n, std::placeholders::_1, std::placeholders::_2));
//
// builtin_interfaces::msg::Time stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
// builtin_interfaces::msg::Time stamp = tf2::toMsg(tf2::timeFromSec(1));
//
// for (int i = 0; i < 20; ++i)
// {
Expand Down Expand Up @@ -306,7 +306,7 @@ TEST(MessageFilter, setTargetFrame)
filter.registerCallback(std::bind(&Notification::notify, &n, std::placeholders::_1));
filter.setTargetFrame("frame1000");

builtin_interfaces::msg::Time stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
builtin_interfaces::msg::Time stamp = tf2::toMsg(tf2::timeFromSec(1));
buffer.setTransform(
createTransform(
tf2::Quaternion(0, 0, 0, 1), tf2::Vector3(1, 2, 3), stamp,
Expand Down Expand Up @@ -341,7 +341,7 @@ TEST(MessageFilter, multipleTargetFrames)
target_frames.push_back("frame2");
filter.setTargetFrames(target_frames);

builtin_interfaces::msg::Time stamp = tf2_ros::toMsg(tf2::timeFromSec(1));
builtin_interfaces::msg::Time stamp = tf2::toMsg(tf2::timeFromSec(1));
buffer.setTransform(
createTransform(
tf2::Quaternion(0, 0, 0, 1), tf2::Vector3(1, 2, 3), stamp,
Expand Down
4 changes: 2 additions & 2 deletions test_tf2/test/test_static_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -146,7 +146,7 @@ TEST(StaticTransformPublisher, a_d_different_times)
geometry_msgs::msg::TransformStamped ts;
ts.transform.rotation.w = 1;
ts.header.frame_id = "c";
ts.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(10));
ts.header.stamp = tf2::toMsg(tf2::timeFromSec(10));
ts.child_frame_id = "d";

// make sure listener has populated
Expand Down Expand Up @@ -198,7 +198,7 @@ TEST(StaticTransformPublisher, multiple_parent_test)
geometry_msgs::msg::TransformStamped ts;
ts.transform.rotation.w = 1;
ts.header.frame_id = "c";
ts.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(10));
ts.header.stamp = tf2::toMsg(tf2::timeFromSec(10));
ts.child_frame_id = "d";

stb.sendTransform(ts);
Expand Down
2 changes: 1 addition & 1 deletion test_tf2/test/test_tf2_bullet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ int main(int argc, char ** argv)
t.transform.rotation.x = 1;
t.transform.rotation.y = 0;
t.transform.rotation.z = 0;
t.header.stamp = tf2_ros::toMsg(tf2::timeFromSec(2));
t.header.stamp = tf2::toMsg(tf2::timeFromSec(2));
t.header.frame_id = "A";
t.child_frame_id = "B";
tf_buffer->setTransform(t, "test");
Expand Down
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