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Additional tf2 Type Conversions #292

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merged 1 commit into from
Apr 26, 2018
Merged

Additional tf2 Type Conversions #292

merged 1 commit into from
Apr 26, 2018

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IanTheEngineer
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@IanTheEngineer IanTheEngineer commented Apr 9, 2018 •
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  • adds non-stamped Eigen to Transform function
  • converts Eigen Matrix Vectors to and from geometry_msgs::Twist
  • adds to/from message for geometry_msgs::Pose and KDL::Frame

This PR is not ready for merge, but I figured I'd open it to get the discussion started. MoveIt! utilizes many different data type conversions in the old tf stack from eigen_conversions, kdl_conversions, and tf_conversions, and I'm attempting to convert everything to tf2.

Not all of the conversions from tf were present in geometry2, so I added those that I needed during the MoveIt migration. Caveats: I understand that the Twist type has representation issues, and that conversions are meant to be to/from Stamped types, but it seemed these conversions could still be useful.

That said, I am open to feedback on how to work with geometry2, so please let me know if I am off base in these additions.

@IanTheEngineer
Adds additional conversions for tf2, KDL, Eigen
2982de0 
- adds non-stamped Eigen to Transform function
- converts Eigen Matrix Vectors to and from geometry_msgs::Twist
- adds to/from message for geometry_msgs::Pose and KDL::Frame
@IanTheEngineer IanTheEngineer mentioned this pull request Apr 9, 2018
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IanTheEngineer
IanTheEngineer commented Apr 9, 2018
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tf2_eigen/include/tf2_eigen/tf2_eigen.h
return msg;
}

/** \brief Convert a Pose message transform type to a Eigen Affine3d.
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@IanTheEngineer IanTheEngineer Apr 9, 2018 •
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Update comment to read Twist message, and Eigen Affine3d should read Eigen 6x1 Matrix

@IanTheEngineer IanTheEngineer mentioned this pull request Apr 26, 2018
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@dirk-thomas
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@tfoote Can you please take a look at this since it is necessary for the migration of MoveIt to tf2. Thanks.

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tfoote approved these changes Apr 26, 2018
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The changes look good. The PR failure looks unrelated. I'll try retriggering it.

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tfoote commented Apr 26, 2018

@ros-pull-request-builder retest this please.

@tfoote tfoote merged commit 1a972d7 into ros:melodic-devel Apr 26, 2018
IanTheEngineer added a commit to IanTheEngineer/moveit that referenced this pull request May 17, 2018
@IanTheEngineer
tf2 migration, resolves issue moveit#745
f4ebdc6 
- All type conversions now depend on geometry2 ROS packages, rather
  than geometry (see ros/geometry2#292 and
  ros/geometry2#294 for details of the new
  conversions)
- Removes all boost::shared_ptr<tf::TransformListener> from the API,
  and replaced them with std::shared_ptr<tf2_ros::Buffer>'s
- Piped tf2_ros::Buffer's everywhere where tf::TransformListeners were
  used
- Utilizes the new tf2 API in the tf::Transformer library to access
  the internal tf2::Buffer object used by RViz
  (see ros/geometry#163 for details of the
  new API)
- Removes the prepending of forward slashes ('/') for Transforms frames
  as this is deprecated in tf2
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@tfoote @dirk-thomas Can you please consider these changes for cherry-picking to Kinetic?
MoveIt requires these changes for its melodic branch. However, we decided that this branch should also compile on Kinetic.

@rhaschke rhaschke mentioned this pull request May 18, 2018
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IanTheEngineer commented May 18, 2018 •
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As I mentioned in moveit/moveit#902 (comment), the MoveIt maintainers need to discuss the decision to compile on both Melodic & Kinetic. There are several Melodic API changes that the MoveIt tf2 migration depends on:

geometry2: #292 & #294
ros/geometry#163
ros-visualization/rviz#1236

While I don't have a preference on what is backported (or not), I want to make sure we are all on the same page before making a decision.

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I think all these changes target enabling of tf2. I think this is a valid goal not only for Melodic but also for Kinetic. Thus I ask you to consider backporting all of them. Instead of deprecating old functionality, it would suffice to add new functionality. I'm looking forward to your decision.

rhaschke pushed a commit to moveit/moveit that referenced this pull request May 18, 2018
@IanTheEngineer @rhaschke
MoveIt! tf2 migration (#830)
736251d 
migration from tf to tf2 API, resolves issue #745

- All type conversions now depend on geometry2 ROS packages, rather than geometry
  (see ros/geometry2#292 and
  ros/geometry2#294 for details of the new conversions)
- Removes all boost::shared_ptr<tf::TransformListener> from the API,
  and replaced them with std::shared_ptr<tf2_ros::Buffer>'s
- Utilize new tf2 API in the tf::Transformer library to access the internal tf2::Buffer of RViz
  (see ros/geometry#163 for details of the new API)
- Removes prepending of forward slashes ('/') for transforms frames as this is deprecated in tf2
- Replaced deprecated tf2 _getLatestCommonTime
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v4hn commented May 23, 2018

Ping @tfoote @dirk-thomas

Can you please consider these changes [Ian pull-requested in your packages] for cherry-picking to Kinetic?
MoveIt requires these changes for its melodic branch. However, we decided that this branch should also compile on Kinetic.

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tfoote commented May 24, 2018

Since this is just additions or modifications to inline functions we can plan to backport this to kinetic.

@IanTheEngineer IanTheEngineer mentioned this pull request May 29, 2018
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tfoote pushed a commit that referenced this pull request Jul 10, 2018
@IanTheEngineer @tfoote
Adds additional conversions for tf2, KDL, Eigen (#292)
0ea7580 
- adds non-stamped Eigen to Transform function
- converts Eigen Matrix Vectors to and from geometry_msgs::Twist
- adds to/from message for geometry_msgs::Pose and KDL::Frame
@tfoote tfoote mentioned this pull request Jul 10, 2018
Closed
tfoote pushed a commit that referenced this pull request Jul 10, 2018
@IanTheEngineer @tfoote
Adds additional conversions for tf2, KDL, Eigen (#292)
26f1694 
- adds non-stamped Eigen to Transform function
- converts Eigen Matrix Vectors to and from geometry_msgs::Twist
- adds to/from message for geometry_msgs::Pose and KDL::Frame
tfoote pushed a commit that referenced this pull request Jul 10, 2018
@IanTheEngineer @tfoote
Adds additional conversions for tf2, KDL, Eigen (#292)
15d0901 
- adds non-stamped Eigen to Transform function
- converts Eigen Matrix Vectors to and from geometry_msgs::Twist
- adds to/from message for geometry_msgs::Pose and KDL::Frame
@davetcoleman davetcoleman mentioned this pull request Mar 15, 2019
Closed
@jdlangs jdlangs mentioned this pull request Aug 26, 2019
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jdlangs pushed a commit to jdlangs/geometry2 that referenced this pull request Aug 26, 2019
@IanTheEngineer @jdlangs
Adds additional conversions for tf2, KDL, Eigen
cae5fc0 
Originally PR ros2#292 at ros/geometry2#292

- adds non-stamped Eigen to Transform function
- converts Eigen Matrix Vectors to and from geometry_msgs::Twist
- adds to/from message for geometry_msgs::Pose and KDL::Frame
clalancette pushed a commit to ros2/geometry2 that referenced this pull request Sep 5, 2019
@IanTheEngineer @clalancette
Adds additional conversions for tf2, KDL, Eigen
70ca817 
Originally PR #292 at ros/geometry2#292

- adds non-stamped Eigen to Transform function
- converts Eigen Matrix Vectors to and from geometry_msgs::Twist
- adds to/from message for geometry_msgs::Pose and KDL::Frame
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@davetcoleman davetcoleman davetcoleman approved these changes

@tfoote tfoote tfoote approved these changes

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@IanTheEngineer @dirk-thomas @tfoote @rhaschke @v4hn @davetcoleman