Add tf2_ros::async_wait_for_transform() #117
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This function allows waiting for transforms without blocking an executor or spinning up a dedicated node and thread. Also included is a class GatedCallbackCaller that makes it easier to wait until a bunch of transforms are ready. Signed-off-by: Shane Loretz<sloretz@openrobotics.org> Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
sloretz
added
enhancement
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Seems like #121 implemented the same feature a different way. Closing. |
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This PR adds
tf2_ros::async_wait_for_transform(). It calls a callback when a transform is ready. This avoids creating a dedicated node and thread for each transform listener, and it works even if the executor is single threaded.Internally it creates a timer with a callback that polls for the transform. If it becomes available before the timeout then the user's callback is called with the transform. If a timeout occurs then the tf2 exception is set on the returned future.
This PR also adds a class
tf2_ros::GatedCallbackCaller. It waits for a bunch of transforms in parallel, and calls one callback once all of them are ready.