Add source code and launch file for tf2 PointStamped message publisher and listener/filter #62

kennywangaigraphx · 2021-09-13T06:16:39Z

I add one python node (broadcaster node of PointStamped messages) and a launch file in turtle_tf2_py, and one C++ node (message filter/listener node) in turtle_tf2_cpp.

Add Python Code of PointStamped Messages Broadcaster Node

Add launch File turtle_tf2_sensor_message.launch.py

kurshakuz · 2021-09-13T07:39:12Z

Hi @kennywangaigraphx! Have you tried to build the package along with your updates? I see that there are some indentation issues and I think nodes will not build. I suggest you to clone the geometry_tutorials to your colcon workspace's src, checkout to kennywangaigraphx:ros2, build it and resolve errors. Then make commit and push them to your branch. Let me know how it goes, and ask if any questions arise

ahcorde

Hi @ kennywangaigraphx

Thank you for your contribution, a have a few comments:

Do you mind to change the title of the PR ? to something more descriptive about what your are adding to this repo ?
Please check the linters. Some of then are failing. You can run then locally with:

colcon test --event-handlers console-direct+ --ctest-args -R turtle_tf2_cpp

kennywangaigraphx · 2021-09-14T07:13:38Z

Thank you @kurshakuz for your comment, I followed your suggestion and resolved some errors and successfully built the two packages. But when I followed @ahcorde to colcon test the python package, test_copyright always have two errors: install/_local_setup_util_ps1.py: copyright=Dirk Thomas (2016-2019), license=
install/_local_setup_util_sh.py: copyright=Dirk Thomas (2016-2019), license=
But the copyright statements on the top of my .py file is the same as other python packages. I don't know the reason.
As for the CPP package, when I run
colcon test --event-handlers console-direct+ --ctest-args -R turtle_tf2_cpp
it just say "No tests were found!!!", and I don't know what to do. Would you please guide me to complete the colcon test? Thank you.
Anyway, I think I should update the source code files, because now they can be built successfully.

kennywangaigraphx · 2021-09-14T07:24:51Z

And I changed the title of this PR as "dd source code and launch file for tf2 PointStamped message publisher and listener/filter".

ahcorde · 2021-09-14T07:30:29Z

colcon test --event-handlers console-direct+ --ctest-args -R turtle_tf2_cpp
it just say "No tests were found!!!", and I don't know what to do. Would you please guide me to complete the colcon test? Thank you.

Then you should compile your code with the test enabled.

colcon build --cmake-args -DBUILD_TESTING=True --packages-select turtle_tf2_cpp <any other argument>

kurshakuz · 2021-09-14T08:06:06Z

@kennywangaigraphx I see that there is no update in the turtle_tf2_message_filter.cpp, as the indentation is still wrong and the copyright is not present. Can you take a look at it?

turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp

ahcorde · 2021-09-14T08:24:24Z

turtle_tf2_py/setup.py

@@ -1,42 +1,43 @@
-from glob import glob


all theses changes are not required

ahcorde · 2021-09-14T08:24:40Z

turtle_tf2_py/turtle_tf2_py/turtle_tf2_message_broadcaster.py

@@ -0,0 +1,67 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.


Suggested change

# Copyright 2015 Open Source Robotics Foundation, Inc.

# Copyright 2021 Open Source Robotics Foundation, Inc.

I modified the copyright year from 2015 to 2021.

ahcorde · 2021-09-14T08:24:56Z

turtle_tf2_py/turtle_tf2_py/turtle_tf2_message_broadcaster.py

+
+        self.vel_pub = self.create_publisher(Twist, '/turtle3/cmd_vel', 1)
+        self.sub = self.create_subscription(Pose, '/turtle3/pose', self.handle_turtle_pose, 1)
+        self.sub


Suggested change

self.sub

Ok, I will delete that line.

ahcorde · 2021-09-14T08:25:23Z

turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp

@@ -0,0 +1,76 @@
+   #include <rclcpp/rclcpp.hpp>


Indentation

kurshakuz · 2021-09-14T20:17:10Z

turtle_tf2_py/setup.py

-        ],
-    },
-)
+from glob import glob


I also think that this PR have the same issue with CR LF end of line sequence, as your commit tries to overwrite the setup.py file. Can you also fix it in all your files? If you are still struggling with it, let me know, I will try to help

Same for new package.xml and CMakeList.txt files

Yes, I have fixed them now.

I don't see that error being solved. Basically if you look at the "Files changed" tab, you will see that your new files are fully red, which means you are overwriting the whole file. What you should see in red is the only lines you changed in original files. Something in your editor is trying to overwrite that.

If you still not able to solve it, you either can give me the write access to your geometry_tutorials repo or I can create a new PR based on your one. Just let me know

Update CMakeLists.txt for turtle_tf2_message_filter node

Update package.xml for dependencies of turtle_tf2_message_filter.cpp

Update turtle_tf2_message_filter.cpp after checking linters.

kennywangaigraphx · 2021-09-15T07:32:53Z

Thank you @ahcorde , and I followed your guidance to do the linters checking, and corrected some errors in the turtle_tf2_message_filter.cpp source file and CMakeLists.txt, @kurshakuz . Currently, The following tests FAILED:
1 - copyright (Failed)
3 - cpplint (Failed)
5 - lint_cmake (Failed)
7 - uncrustify (Failed)
Where: 1 - copyright has 35 errors, all are "could not find copyright notice" errors; 3 - cpplint totally has 20 errors, all are in file turtle_tf2_cpp/build/turtle_tf2_cpp/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp and turtle_tf2_cpp/build/turtle_tf2_cpp/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.c, and Not using '--root'; 5 - lint_cmake has 160 errors, all are in cmake related files in install or build subdirectory; 7 - uncrustify has 2 errors, one is Code style divergence in file 'build/turtle_tf2_cpp/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp', and the other is Code style divergence in file 'build/turtle_tf2_cpp/CMakeFiles/3.16.3/CompilerIdC/CMakeCCompilerId.c'.
As shown in the check list, all 7 lint diagnostics are successful now.
It seems that now the errors are not aroused by turtle_tf2_message_filter.cpp, and I don't know how to resolve these errors, do you @ahcorde @kurshakuz have any more suggestions? Thank you.

for the copyright year from 2015 to 2021 and delete the line "self.sub".

ahcorde · 2021-09-15T07:43:24Z

I fixed something on the ros2 branch which is not fixed in your branch, you should execute the following commands to merge these new changes.

git remote add ros https://github.com/ros/geometry_tutorials/
git fetch ros
git merge ros/ros2
git push origin ros2

Another important thing. Please you should only create a PR with your new changes, for example you edited the hole CMakeLists.txt file, I think @kurshakuz give it to you a tip about how to fix this. Probably you are adding some characters because of your editor.

kurshakuz · 2021-09-15T09:29:54Z

@kennywangaigraphx can you now try to change the EOL to LF here in all your files?

…tutorials into ros2

kennywangaigraphx · 2021-09-16T06:48:33Z

@kurshakuz I changed the EOL to LF for all my files.

kennywangaigraphx · 2021-09-16T06:53:21Z

I fixed something on the ros2 branch which is not fixed in your branch, you should execute the following commands to merge these new changes.
git remote add ros https://github.com/ros/geometry_tutorials/
git fetch ros
git merge ros/ros2
git push origin ros2
Another important thing. Please you should only create a PR with your new changes, for example you edited the hole CMakeLists.txt file, I think @kurshakuz give it to you a tip about how to fix this. Probably you are adding some characters because of your editor.

@ahcorde I did git fetch, merge and push through Github Desktop just now, and also resolved the EOL of my files. But why I can't see the check list now?

ahcorde · 2021-09-16T07:07:47Z

I fixed something on the ros2 branch which is not fixed in your branch, you should execute the following commands to merge these new changes.
git remote add ros https://github.com/ros/geometry_tutorials/
git fetch ros
git merge ros/ros2
git push origin ros2
Another important thing. Please you should only create a PR with your new changes, for example you edited the hole CMakeLists.txt file, I think @kurshakuz give it to you a tip about how to fix this. Probably you are adding some characters because of your editor.
@ahcorde I did git fetch, merge and push through Github Desktop just now, and also resolved the EOL of my files. But why I can't see the check list now?

it's your first contribution to this repo, Github force me to trigger the CI for each commit. You should see the check list now.

kennywangaigraphx · 2021-09-17T07:37:30Z

@ahcorde @kurshakuz Great, finally all checks have passed.

kurshakuz · 2021-09-17T07:45:37Z

@ahcorde @kurshakuz Great, finally all checks have passed.

you need to remove all .pyc files

kennywangaigraphx · 2021-09-17T07:52:11Z

@ahcorde @kurshakuz Great, finally all checks have passed.

you need to remove all .pyc files

@kurshakuz Ok, I will remove them. So I need to delete them from local folder of my computer and commit again? Or other ways to do that?

kennywangaigraphx · 2021-09-17T08:01:58Z

@kurshakuz I removed all the .pyc files just now.

kurshakuz

Congrats, finally all issues are resolved! Now I have reviewed the code itself and have some points to cover. Do you mind to take a look? If we fix them, the PR is ready to go

kurshakuz · 2021-09-17T07:52:17Z

turtle_tf2_cpp/CMakeLists.txt

@@ -20,6 +20,15 @@ find_package(rclcpp REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(turtlesim REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(message_filters REQUIRED)


can you sort these statements in an alphabetical order?

kurshakuz · 2021-09-17T07:52:41Z

turtle_tf2_cpp/CMakeLists.txt

+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  message_filters


we need these ones to be sorted too

kurshakuz · 2021-09-17T07:53:09Z

turtle_tf2_cpp/package.xml

@@ -21,6 +21,8 @@
  <depend>tf2</depend>
  <depend>tf2_ros</depend>
  <depend>turtlesim</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>message_filters</depend>


similarly, we store them in an alphabetical order

kurshakuz · 2021-09-17T07:55:12Z

turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp

+#include <rclcpp/rclcpp.hpp>
+#include <geometry_msgs/msg/point_stamped.hpp>
+
+#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/message_filter.h>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/create_timer_ros.h>
+#ifdef TF2_CPP_HEADERS
+  #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#else
+  #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#endif
+#include <message_filters/subscriber.h>


Suggested change

#include <rclcpp/rclcpp.hpp>

#include <geometry_msgs/msg/point_stamped.hpp>

#include <tf2_ros/transform_listener.h>

#include <tf2_ros/message_filter.h>

#include <tf2_ros/buffer.h>

#include <tf2_ros/create_timer_ros.h>

#ifdef TF2_CPP_HEADERS

#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

#else

#include <tf2_geometry_msgs/tf2_geometry_msgs.h>

#endif

#include <message_filters/subscriber.h>

#include <geometry_msgs/msg/point_stamped.hpp>

#include <message_filters/subscriber.h>

#include <rclcpp/rclcpp.hpp>

#include <tf2_ros/transform_listener.h>

#include <tf2_ros/message_filter.h>

#include <tf2_ros/buffer.h>

#include <tf2_ros/create_timer_ros.h>

#ifdef TF2_CPP_HEADERS

#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

#else

#include <tf2_geometry_msgs/tf2_geometry_msgs.h>

#endif

it is also better to sort includes in a following manner

@kurshakuz Yes, I will sort them in all these files.

kurshakuz · 2021-09-17T08:00:48Z

turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp

+  PoseDrawer()
+  : Node("turtle_tf2_pose_drawer")
+  {
+    auto node = rclcpp::Node::make_shared("tf2_ros_message_filter");


I see you are creating a Node instance two times. Is there any particular reason for that? One called "turtle_tf2_pose_drawer" and one "tf2_ros_message_filter". I see that in the code you are using node-> and this-> interchangeably, and this might be confusing to users. I recommend to stick with leaving the PoseDrawer() : Node("turtle_tf2_pose_drawer") call and using this-> on all onwards, when you need to call your node

@kurshakuz You're correct. The reason I used them interchangeably is that when I create the messagefilter object, tf2_filter_ = std::make_shared<tf2_ros::MessageFilter<geometry_msgs::msg::PointStamped>>(), the fifth argument need to be type ‘const SharedPtr&’ {aka ‘const std::shared_ptrrclcpp::Node&’}, while this pointer is type of ‘PoseDrawer*’, I don't know how to convert between them. Do you have any suggestion?

Did you do it like below?

tf2_filter_ = std::make_shared<tf2_ros::MessageFilter<geometry_msgs::msg::PointStamped>>( point_sub_, *tf2_buffer_, target_frame_, 10, this, buffer_timeout);

I am not quite getting it as the PoseDrawer actually inherits from the Node type. Can you try to build it as above? If it is still does not work, try looking for other APIs of MessageFilter initialization. Some of them require node clock rather than node itself:
https://docs.ros2.org/foxy/api/tf2_ros/classtf2__ros_1_1MessageFilter.html

Let me know if it still does not work

Yes, that does not work, when I build the turtle_tf2_cpp package, it will get errors:
from /home/wangjg/geometry_tutorials/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp:15:
/usr/include/c++/9/ext/new_allocator.h:145:20: note: cannot convert ‘std::forward<PoseDrawer*>((* & __args#4))’ (type ‘PoseDrawer*’) to type ‘const SharedPtr&’ {aka ‘const std::shared_ptrrclcpp::node_interfaces::NodeLoggingInterface&’}
145 | noexcept(noexcept(::new((void *)__p)
| ^~~~~~~~~~~~~~~~~~
146 | _Up(std::forward<_Args>(__args)...)))
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/wangjg/geometry_tutorials/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp:21:
/home/wangjg/ros2_galactic_with_nav2/ros2_ws/install/tf2_ros/include/tf2_ros/message_filter.h:217:3: note: candidate: ‘template<class F, class TimeRepT, class TimeT> tf2_ros::MessageFilter<M, BufferT>::MessageFilter(F&, BufferT&, const string&, uint32_t, const SharedPtr&, std::chrono::duration<TimeRepT, TimeT>)’
217 | MessageFilter(
| ^~~~~~~~~~~~~

I just dived into that and found that currently tf2_ros::MessageFilter is lacking that capabilities. There is an open issue on that:
ros2/geometry2#95

I suggest to leave it that way for now, as we will still be able to make corresponding updates later

@kurshakuz this problem was resolved just now:
tf2_filter_ = std::make_shared<tf2_ros::MessageFilter<geometry_msgs::msg::PointStamped>>(
point_sub_, *tf2_buffer_, target_frame_, 10, this->get_node_logging_interface(),
this->get_node_clock_interface(), buffer_timeout);
I used rclcpp::node_interfaces:NodeLoggingInterface and rclcpp::node_interfaces:NodeClockInterface other than const rclcpp::Node::SharedPtr &, and it will work.

kurshakuz · 2021-09-17T08:01:32Z

turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp

+using std::placeholders::_1;
+using namespace std::chrono_literals;
+
+


Suggested change

kurshakuz · 2021-09-17T08:16:06Z

turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp

+
+    rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+    tf2_buffer_ = std::make_shared<tf2_ros::Buffer>(node->get_clock());
+    tf2_buffer_->setCreateTimerInterface(create_timer_interface);


Can you please clarify why we need to create setCreateTimerInterface? I think a couple of inline comments would suffice

This is also because I create another node object except this pointer, and if I didn't setCreateTimerInterface, then when I run this node, it will raise a exception:
terminate called after throwing an instance of 'tf2_ros::CreateTimerInterfaceException'
what(): timer interface not set before call to waitForTransform
[ros2run]: Aborted
If we can resolve the two Node instance problem, I think we needn't to create setCreateTimerInterface.

@kurshakuz Still need setCreateTimerInterface after changing from two node instances to one node instance, and I added two inline comments for its purpose.

kurshakuz · 2021-09-17T08:17:31Z

turtle_tf2_py/setup.cfg

 [install]
-install-scripts=$base/lib/turtle_tf2_py
+install_scripts=$base/lib/turtle_tf2_py


I am not sure if we need to modify these ones.

@kurshakuz yes, for rolling it would be "_", while for foxy, it may need to be "-". So does it have any influences?

kurshakuz · 2021-09-17T08:20:34Z

turtle_tf2_py/turtle_tf2_py/turtle_tf2_message_broadcaster.py

+        request.x = float(4)
+        request.y = float(2)
+        request.theta = float(0)
+        self.client.call_async(request)


I think you have not seen that, as the fixing PR was made not long ago, but we have changed the way request is called in nodes. The issue was is that if the service is not available during that process, the node will got stuck in the __init__ phase and will not start spinning. What I suggest is to take a look at the update spawn syntax that we came up with and try to modify it in a similar manner:

https://github.com/ros/geometry_tutorials/blob/ros2/turtle_tf2_cpp/src/turtle_tf2_listener.cpp

Ok, I will try to modify it in a similar manner.

@kurshakuz So I must spawn turtle3 in callback function? Then there will be problem:
self.sub = self.create_subscription(Pose, 'turtle3/pose', self.handle_turtle_pose, 1)
My callback will be called in the subscription, and require a positional argument 'msg', and when I launch this node, it will never spawn turtle3. How to resolve this problem?

@kurshakuz All other suggestion you made were resolved except for this.

I see your point. Do you think we then can make a separate timer call responsible for spawn service? Then we can make a flag that would indicate that the turtle is spawned and could start the subscription process?

@kurshakuz I have done it according to your good point, and now it will work.

sort include headers; change two node instances to one instance; change turtle3 spawning manner.

…tutorials into ros2

kennywangaigraphx · 2021-09-20T07:22:03Z

@ahcorde I made some updates according to the suggestions on codes itself by @kurshakuz , and I built and run them in my computer, they can work as I expected. So would you please to start the tests and lints for 96ecf2b when you see this comment? Thank you very much.

kurshakuz · 2021-09-20T12:39:54Z

turtle_tf2_py/turtle_tf2_py/turtle_tf2_message_broadcaster.py

+
+        self.timer = self.create_timer(1.0, self.on_timer)
+
+    def on_timer(self):   


Can you take at the build test output?

E ./turtle_tf2_py/turtle_tf2_message_broadcaster.py:39:1: W293 blank line contains whitespace E ./turtle_tf2_py/turtle_tf2_message_broadcaster.py:42:24: W291 trailing whitespace

@kurshakuz Sorry, I checked carefully for all the files to ensure there is no whitespace ,but I still neglected these two lines. I removed them just now.

remove whitespaces in line 39 and 42

kurshakuz

Some very last nitpicks and I think we can merge it. Great job!

kurshakuz · 2021-09-20T17:46:14Z

turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp

+    seconds_type buffer_timeout(10);
+
+    tf2_buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
+    // set timer interface before call to waitForTransform,


Suggested change

// set timer interface before call to waitForTransform,

// Create the timer interface before call to waitForTransform,

kurshakuz · 2021-09-20T17:46:42Z

turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp

+
+    tf2_buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
+    // set timer interface before call to waitForTransform,
+    // to avoid a tf2_ros::CreateTimerInterfaceException is thrown.


Suggested change

// to avoid a tf2_ros::CreateTimerInterfaceException is thrown.

// to avoid a tf2_ros::CreateTimerInterfaceException exception

kurshakuz · 2021-09-20T17:48:29Z

turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp

+    tf2_filter_->registerCallback(&PoseDrawer::msgCallback, this);
+  }
+
+// Callback to register with tf2_ros::MessageFilter to be called when transforms are available


Suggested change

tf2_filter_->registerCallback(&PoseDrawer::msgCallback, this);

}

// Callback to register with tf2_ros::MessageFilter to be called when transforms are available

// Register a callback with tf2_ros::MessageFilter to be called when transforms are available

tf2_filter_->registerCallback(&PoseDrawer::msgCallback, this);

}

kurshakuz · 2021-09-20T17:49:49Z

turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp

+    try {
+      tf2_buffer_->transform(*point_ptr, point_out, target_frame_);
+      RCLCPP_INFO(
+        this->get_logger(), "point of turtle 3 in frame of turtle 1 Position(x:%f y:%f z:%f)\n",


Suggested change

this->get_logger(), "point of turtle 3 in frame of turtle 1 Position(x:%f y:%f z:%f)\n",

this->get_logger(), "Point of turtle3 in frame of turtle1: x: %f y: %f z: %f\n",

kurshakuz · 2021-09-20T17:50:38Z

turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp

+        point_out.point.z);
+    } catch (tf2::TransformException & ex) {
+      RCLCPP_WARN(
+        this->get_logger(), "Failure %s\n", ex.what());    // Print exception which was caught


Suggested change

this->get_logger(), "Failure %s\n", ex.what()); // Print exception which was caught

this->get_logger(), "Failure %s\n", ex.what()); // Print exception which was caught

@kurshakuz Here has 4 whitespace, I removed 2 whitespaces, and left 2 whitespaces, I think it need 2 whitespaces between comments and code, otherwise it will get wrong when linting.

@kurshakuz To ensure it can pass the test and linting, I moved the comment line to a new line before the code line.

kurshakuz · 2021-09-20T17:53:12Z

turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp

+    tf2_buffer_->setCreateTimerInterface(timer_interface);
+    tf2_listener_ =
+      std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);
+    point_sub_.subscribe(this, "/turtle3/turtle_point_stamped");
+    tf2_filter_ = std::make_shared<tf2_ros::MessageFilter<geometry_msgs::msg::PointStamped>>(
+      point_sub_, *tf2_buffer_, target_frame_, 100, this->get_node_logging_interface(),
+      this->get_node_clock_interface(), buffer_timeout);
+    tf2_filter_->registerCallback(&PoseDrawer::msgCallback, this);


I think it would be nice to have some empty lines between separate tools, like:

Suggested change

tf2_buffer_->setCreateTimerInterface(timer_interface);

tf2_listener_ =

std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);

point_sub_.subscribe(this, "/turtle3/turtle_point_stamped");

tf2_filter_ = std::make_shared<tf2_ros::MessageFilter<geometry_msgs::msg::PointStamped>>(

point_sub_, *tf2_buffer_, target_frame_, 100, this->get_node_logging_interface(),

this->get_node_clock_interface(), buffer_timeout);

tf2_filter_->registerCallback(&PoseDrawer::msgCallback, this);

tf2_buffer_->setCreateTimerInterface(timer_interface);

tf2_listener_ =

std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);

point_sub_.subscribe(this, "/turtle3/turtle_point_stamped");

tf2_filter_ = std::make_shared<tf2_ros::MessageFilter<geometry_msgs::msg::PointStamped>>(

point_sub_, *tf2_buffer_, target_frame_, 100, this->get_node_logging_interface(),

this->get_node_clock_interface(), buffer_timeout);

tf2_filter_->registerCallback(&PoseDrawer::msgCallback, this);

@kurshakuz Yes, you're right. I added an empty line to separate them.

@kurshakuz By the way, really it seems that we didn't use the tf2_geometry_msgs, but I tested if I remove it, it will get wrong when building the cpp package. And in the ROS1 version of this tutorial, there also had this header, so I think we need it.

The error looks like this:
try_tutorials/turtle_tf2_cpp$ colcon build --symlink-install
Starting >>> turtle_tf2_cpp
--- stderr: turtle_tf2_cpp
/usr/bin/ld: CMakeFiles/turtle_tf2_message_filter.dir/src/turtle_tf2_message_filter.cpp.o: in function geometry_msgs::msg::PointStamped_<std::allocator<void> >& tf2_ros::BufferInterface::transform<geometry_msgs::msg::PointStamped_<std::allocator<void> > >(geometry_msgs::msg::PointStamped_<std::allocator<void> > const&, geometry_msgs::msg::PointStamped_<std::allocator<void> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::duration<long, std::ratio<1l, 1000000000l> >) const': turtle_tf2_message_filter.cpp:(.text._ZNK7tf2_ros15BufferInterface9transformIN13geometry_msgs3msg13PointStamped_ISaIvEEEEERT_RKS7_S8_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE[_ZNK7tf2_ros15BufferInterface9transformIN13geometry_msgs3msg13PointStamped_ISaIvEEEEERT_RKS7_S8_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE]+0x5a): undefined reference to std::chrono::time_point<std::chrono::V2::system_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > tf2::getTimestamp<geometry_msgs::msg::PointStamped<std::allocator > >(geometry_msgs::msg::PointStamped_<std::allocator > const&)'
/usr/bin/ld: turtle_tf2_message_filter.cpp:(.text.ZNK7tf2_ros15BufferInterface9transformIN13geometry_msgs3msg13PointStamped_ISaIvEEEEERT_RKS7_S8_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE[ZNK7tf2_ros15BufferInterface9transformIN13geometry_msgs3msg13PointStamped_ISaIvEEEEERT_RKS7_S8_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE]+0x7a): undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > tf2::getFrameId<geometry_msgs::msg::PointStamped_<std::allocator<void> > >(geometry_msgs::msg::PointStamped_<std::allocator<void> > const&)' /usr/bin/ld: turtle_tf2_message_filter.cpp:(.text._ZNK7tf2_ros15BufferInterface9transformIN13geometry_msgs3msg13PointStamped_ISaIvEEEEERT_RKS7_S8_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE[_ZNK7tf2_ros15BufferInterface9transformIN13geometry_msgs3msg13PointStamped_ISaIvEEEEERT_RKS7_S8_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENSt6chrono8durationIlSt5ratioILl1ELl1000000000EEEE]+0xcf): undefined reference to void tf2::doTransform<geometry_msgs::msg::PointStamped<std::allocator > >(geometry_msgs::msg::PointStamped<std::allocator > const&, geometry_msgs::msg::PointStamped_<std::allocator >&, geometry_msgs::msg::TransformStamped_<std::allocator > const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/turtle_tf2_message_filter.dir/build.make:192：turtle_tf2_message_filter] 错误 1
make[1]: *** [CMakeFiles/Makefile2:115：CMakeFiles/turtle_tf2_message_filter.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2

Failed <<< turtle_tf2_cpp [17.0s, exited with code 2]

Summary: 0 packages finished [17.2s]
1 package failed: turtle_tf2_cpp
1 package had stderr output: turtle_tf2_cpp

And I increased the queue size from 10 to 100:

tf2_filter_ = std::make_shared<tf2_ros::MessageFilter<geometry_msgs::msg::PointStamped>>(
point_sub_, *tf2_buffer_, target_frame_, 100, this->get_node_logging_interface(),
this->get_node_clock_interface(), buffer_timeout);

because if the queue size is small, there will have some warning outputs:

message filter dropping message: frame 'world' at time 1632119254.938 for reason 'discarding message because the queue is full'

@kurshakuz And I also remove this line under the includings:
using std::placeholders::_1;
I test we don't need that line, and it can still work as expected.

@kurshakuz I modified the cpp file according to your last nitpicks suggestion.

Thank you! Looks pretty good to me

@kurshakuz By the way, really it seems that we didn't use the tf2_geometry_msgs, but I tested if I remove it, it will get wrong when building the cpp package. And in the ROS1 version of this tutorial, there also had this header, so I think we need it.

Yes, indeed we need a tf2_geometry_msgs.hpp because it contains required conversion methods.

kennywangaigraphx · 2021-09-20T19:05:52Z

@ahcorde I made some little updates according to linting results and suggestions of @kurshakuz , do you have any other suggestion? And please trigger testing and linting for my dd0f207 and 324b723. Thank you very much.

ahcorde · 2021-09-20T19:18:14Z

launched CI

kennywangaigraphx · 2021-09-20T20:28:56Z

@kurshakuz @ahcorde All checks have passed.

some little updates

kennywangaigraphx · 2021-09-21T04:56:36Z

@kurshakuz @ahcorde So what should we do next?

kurshakuz · 2021-09-21T08:37:37Z

@kurshakuz @ahcorde So what should we do next?

In the meantime, I suggest you to add all those updates to your tutorial file. Additionally, take a look at Chris' comments there.

kennywangaigraphx · 2021-09-22T00:19:15Z

@kurshakuz Ok, I have updated my tutorial file just now according to your suggestion.

ahcorde · 2021-09-22T07:16:19Z

Thank you for your contribution @kennywangaigraphx

kennywangaigraphx added 3 commits September 12, 2021 23:00

Add Py Code of PointStamped Messages Broadcaster

aff749f

Add Python Code of PointStamped Messages Broadcaster Node

Add launch File turtle_tf2_sensor_message.launch

5497ff1

Add launch File turtle_tf2_sensor_message.launch.py

Add turtle_tf2_message_filter.cpp

50d702e

kurshakuz mentioned this pull request Sep 13, 2021

Add tutorial "Using Stamped datatypes with tf2_ros::MessageFilter" ros2/ros2_documentation#1929

Merged

ahcorde requested changes Sep 13, 2021

View reviewed changes

kennywangaigraphx added 3 commits September 14, 2021 00:15

Update file turtle_tf2_sensor_message.launch.py

6f744b4

Update file turtle_tf2_message_broadcaster.py

80a2dba

Update setup.py to add an entry for the node

a923390

kennywangaigraphx changed the title ~~Add source code and launch file for pr #1929~~ Add source code and launch file for tf2 PointStamped message publisher and listener/filter Sep 14, 2021

ahcorde requested changes Sep 14, 2021

View reviewed changes

kurshakuz suggested changes Sep 14, 2021

View reviewed changes

kennywangaigraphx added 4 commits September 14, 2021 23:31

Update CMakeLists.txt for message_filter

51cf551

Update CMakeLists.txt for turtle_tf2_message_filter node

Update package.xml for message_filter

318e651

Update package.xml for dependencies of turtle_tf2_message_filter.cpp

Update turtle_tf2_message_filter.cpp

71020b9

Update turtle_tf2_message_filter.cpp after checking linters.

Update turtle_tf2_message_filter.cpp after linting

acafcd4

Update turtle_tf2_message_broadcaster.py

eaa0cde

for the copyright year from 2015 to 2021 and delete the line "self.sub".

kennywangaigraphx added 2 commits September 15, 2021 23:26

Update files according to linting

c34ea84

Merge branch 'ros2' of https://github.com/kennywangaigraphx/geometry_…

4209500

…tutorials into ros2

kennywangaigraphx requested a review from ahcorde September 16, 2021 06:46

Update CMakeLists.txt for endif

47ba0d7

kennywangaigraphx added 6 commits September 17, 2021 00:58

Delete test_copyright.cpython-38-pytest-6.2.4.pyc

a4c083a

Delete test_flake8.cpython-38-pytest-6.2.4.pyc

7a822ec

Delete test_pep257.cpython-38-pytest-6.2.4.pyc

c887621

Delete __init__.cpython-38.pyc

b740b14

Delete turtle_tf2_broadcaster.cpython-38.pyc

b21aab3

Delete turtle_tf2_message_broadcaster.cpython-38.pyc

07a531a

kurshakuz suggested changes Sep 17, 2021

View reviewed changes

kennywangaigraphx added 2 commits September 19, 2021 23:55

Update cpp node and py node

bcac5e8

sort include headers; change two node instances to one instance; change turtle3 spawning manner.

Merge branch 'ros2' of https://github.com/kennywangaigraphx/geometry_…

96ecf2b

…tutorials into ros2

kennywangaigraphx requested a review from ahcorde September 20, 2021 07:15

kurshakuz reviewed Sep 20, 2021

View reviewed changes

Update turtle_tf2_message_broadcaster.py

324b723

remove whitespaces in line 39 and 42

kurshakuz approved these changes Sep 20, 2021

View reviewed changes

Update turtle_tf2_message_filter.cpp

dd0f207

some little updates

ahcorde requested a review from audrow September 21, 2021 16:07

ahcorde approved these changes Sep 22, 2021

View reviewed changes

ahcorde merged commit 125c3dc into ros:ros2 Sep 22, 2021

		@@ -0,0 +1,67 @@
		# Copyright 2015 Open Source Robotics Foundation, Inc.

	# Copyright 2015 Open Source Robotics Foundation, Inc.
	# Copyright 2021 Open Source Robotics Foundation, Inc.

		using std::placeholders::_1;
		using namespace std::chrono_literals;


		self.timer = self.create_timer(1.0, self.on_timer)

		def on_timer(self):

	// set timer interface before call to waitForTransform,
	// Create the timer interface before call to waitForTransform,

	// to avoid a tf2_ros::CreateTimerInterfaceException is thrown.
	// to avoid a tf2_ros::CreateTimerInterfaceException exception

	this->get_logger(), "point of turtle 3 in frame of turtle 1 Position(x:%f y:%f z:%f)\n",
	this->get_logger(), "Point of turtle3 in frame of turtle1: x: %f y: %f z: %f\n",

	this->get_logger(), "Failure %s\n", ex.what()); // Print exception which was caught
	this->get_logger(), "Failure %s\n", ex.what()); // Print exception which was caught

Add source code and launch file for tf2 PointStamped message publisher and listener/filter #62

Add source code and launch file for tf2 PointStamped message publisher and listener/filter #62

Conversation

kennywangaigraphx commented Sep 13, 2021

kurshakuz commented Sep 13, 2021

ahcorde left a comment

Choose a reason for hiding this comment

kennywangaigraphx commented Sep 14, 2021

kennywangaigraphx commented Sep 14, 2021

ahcorde commented Sep 14, 2021

kurshakuz commented Sep 14, 2021

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

kennywangaigraphx commented Sep 15, 2021

ahcorde commented Sep 15, 2021

kurshakuz commented Sep 15, 2021

kennywangaigraphx commented Sep 16, 2021

kennywangaigraphx commented Sep 16, 2021

ahcorde commented Sep 16, 2021

kennywangaigraphx commented Sep 17, 2021

kurshakuz commented Sep 17, 2021 • edited Loading

kennywangaigraphx commented Sep 17, 2021

kennywangaigraphx commented Sep 17, 2021

kurshakuz left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

kurshakuz Sep 19, 2021 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

kennywangaigraphx commented Sep 20, 2021

Choose a reason for hiding this comment

Choose a reason for hiding this comment

kurshakuz left a comment • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

kennywangaigraphx commented Sep 20, 2021

ahcorde commented Sep 20, 2021

kurshakuz commented Sep 17, 2021 •

edited

Loading

kurshakuz Sep 19, 2021 •

edited

Loading

kurshakuz left a comment •

edited

Loading