tf2 migration

[IanTheEngineer]

All conversions from eigen_conversions are now using tf2_eigen instead. tf::TransformListener is now converted to a combination of tf2_ros::Buffer and tf2_ros::TransformListener.

These changes are for melodic-devel only, and depend on moveit/moveit#830.

[davetcoleman]

Re targeted branch to melodic, will wait for upstream dependency

[IanTheEngineer]

@davetcoleman the dependencies of this PR should be ready with moveit/moveit#830 merged into melodic-devel

[davetcoleman]

i just restarted the build...

[IanTheEngineer]

@davetcoleman It seems Travis is building against the kinetic ROS packages:

$ export ROS_DISTRO=kinetic
$ export ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
$ export UPSTREAM_WORKSPACE=.travis.rosinstall
$ bash -c 'echo $BASH_VERSION'
4.3.11(1)-release
before_script
0.48s$ git clone -q https://github.com/davetcoleman/moveit_ci.git .moveit_ci
$ source .moveit_ci/travis.sh
---
Testing branch 'kinetic-devel' of 'moveit_visual_tools' on ROS 'kinetic'
Starting Docker image: moveit/moveit:kinetic-ci
---
Testing branch 'kinetic-devel' of 'moveit_visual_tools' on ROS 'kinetic'

[davetcoleman]

Not sure when I'll have time to fix the Travis CI, feel free to (sorry)

[davetcoleman]

Okay I found time @IanTheEngineer :-)

[davetcoleman]

@IanTheEngineer CI works now but its failing on tf-related issues:

/root/ws_moveit/src/moveit_visual_tools/src/moveit_visual_tools.cpp:94:25: error: ‘TransformListener’ is not a member of ‘tf’

[IanTheEngineer]

/root/ws_moveit/src/moveit_visual_tools/src/moveit_visual_tools.cpp:94:25: error: ‘TransformListener’ is not a member of ‘tf’

@davetcoleman It looks like you're building the CI without this pull request then? That's one of the lines that I fixed for melodic-devel

[davetcoleman]

I don't see how the CI would have build the code without this PR

[davetcoleman]

It seems your branch needed to be rebased with the latest melodic-devel changes. I tested locally and so went ahead and merged this.

[IanTheEngineer]

Ah, that makes sense. Thanks Dave!