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Adding NodeInterfaces to Buffer #656

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merged 6 commits into from
Mar 26, 2024
+45 −35
Merged

Adding NodeInterfaces to Buffer #656

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7d0e2be
Using Node Interfaces in Buffer
CursedRock17 Mar 11, 2024
eb7e533
adding slight adjustement
CursedRock17 Mar 11, 2024
c0868f0
Fixing nullptr node
CursedRock17 Mar 12, 2024
cc51b0d
Make Node Any Starting Type by Default
CursedRock17 Mar 12, 2024
f12edec
Adding Macro back
CursedRock17 Mar 18, 2024
698c5ae
Fixing Windows Linking Error
CursedRock17 Mar 21, 2024
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47 changes: 43 additions & 4 deletions tf2_ros/include/tf2_ros/buffer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@
#include <memory>
#include <mutex>
#include <string>
#include <utility>
#include <unordered_map>

#include "tf2_ros/async_buffer_interface.h"
Expand All @@ -47,6 +48,10 @@

#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2_msgs/srv/frame_graph.hpp"
#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
#include "rclcpp/node_interfaces/get_node_services_interface.hpp"
#include "rclcpp/node_interfaces/get_node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/rclcpp.hpp"

namespace tf2_ros
Expand All @@ -69,11 +74,43 @@ class Buffer : public BufferInterface, public AsyncBufferInterface, public tf2::
* \param clock A clock to use for time and sleeping
* \param cache_time How long to keep a history of transforms
* \param node If passed advertise the view_frames service that exposes debugging information from the buffer
* \param qos If passed change the quality of service of the frames_server_ service
*/
TF2_ROS_PUBLIC Buffer(
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restore TF2_ROS_PUBLIC

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Yea I imagine that's the only thing throwing it off

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So TF2_ROS_PUBLIC is essentially

#define TF2_ROS_EXPORT __declspec(dllexport)

or some similar form of dllexport. Thus, it cannot exist in the scope of a definition of it's application according to the docs. We have to immediately define the constructor for Buffer since it's a template. As for removing the macro, the original CI job has linking errors in getFrames and onTimeJump which are the only two private functions used in the constructor of Buffer. I assume that if we mark those functions as able to link, Buffer shouldn't have problems with anything else

template<typename NodeT = rclcpp::Node::SharedPtr>
Buffer(
rclcpp::Clock::SharedPtr clock,
tf2::Duration cache_time = tf2::Duration(tf2::BUFFER_CORE_DEFAULT_CACHE_TIME),
rclcpp::Node::SharedPtr node = rclcpp::Node::SharedPtr());
NodeT && node = NodeT(),
const rclcpp::QoS & qos = rclcpp::ServicesQoS())
: BufferCore(cache_time), clock_(clock), timer_interface_(nullptr)
{
if (nullptr == clock_) {
throw std::invalid_argument("clock must be a valid instance");
}

auto post_jump_cb = [this](const rcl_time_jump_t & jump_info) {onTimeJump(jump_info);};

rcl_jump_threshold_t jump_threshold;
// Disable forward jump callbacks
jump_threshold.min_forward.nanoseconds = 0;
// Anything backwards is a jump
jump_threshold.min_backward.nanoseconds = -1;
// Callback if the clock changes too
jump_threshold.on_clock_change = true;

jump_handler_ = clock_->create_jump_callback(nullptr, post_jump_cb, jump_threshold);

if (node) {
node_logging_interface_ = rclcpp::node_interfaces::get_node_logging_interface(node);

frames_server_ = rclcpp::create_service<tf2_msgs::srv::FrameGraph>(
rclcpp::node_interfaces::get_node_base_interface(node),
rclcpp::node_interfaces::get_node_services_interface(node),
"tf2_frames", std::bind(
&Buffer::getFrames, this, std::placeholders::_1,
std::placeholders::_2), qos, nullptr);
}
}

/** \brief Get the transform between two frames by frame ID.
* \param target_frame The frame to which data should be transformed
Expand Down Expand Up @@ -275,10 +312,12 @@ class Buffer : public BufferInterface, public AsyncBufferInterface, public tf2::
TransformStampedFuture future,
TransformReadyCallback callback);

TF2_ROS_PUBLIC
bool getFrames(
const tf2_msgs::srv::FrameGraph::Request::SharedPtr req,
tf2_msgs::srv::FrameGraph::Response::SharedPtr res);

TF2_ROS_PUBLIC
void onTimeJump(const rcl_time_jump_t & jump);

// conditionally error if dedicated_thread unset.
Expand All @@ -293,8 +332,8 @@ class Buffer : public BufferInterface, public AsyncBufferInterface, public tf2::
/// \brief A clock to use for time and sleeping
rclcpp::Clock::SharedPtr clock_;

/// \brief A node to advertise the view_frames service
rclcpp::Node::SharedPtr node_;
/// \brief A node logging interface to access the buffer node's logger
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface_;

/// \brief Interface for creating timers
CreateTimerInterface::SharedPtr timer_interface_;
Expand Down
33 changes: 2 additions & 31 deletions tf2_ros/src/buffer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,36 +42,6 @@

namespace tf2_ros
{

Buffer::Buffer(
rclcpp::Clock::SharedPtr clock, tf2::Duration cache_time,
rclcpp::Node::SharedPtr node)
: BufferCore(cache_time), clock_(clock), node_(node), timer_interface_(nullptr)
{
if (nullptr == clock_) {
throw std::invalid_argument("clock must be a valid instance");
}

auto post_jump_cb = [this](const rcl_time_jump_t & jump_info) {onTimeJump(jump_info);};

rcl_jump_threshold_t jump_threshold;
// Disable forward jump callbacks
jump_threshold.min_forward.nanoseconds = 0;
// Anything backwards is a jump
jump_threshold.min_backward.nanoseconds = -1;
// Callback if the clock changes too
jump_threshold.on_clock_change = true;

jump_handler_ = clock_->create_jump_callback(nullptr, post_jump_cb, jump_threshold);

if (node_) {
frames_server_ = node_->create_service<tf2_msgs::srv::FrameGraph>(
"tf2_frames", std::bind(
&Buffer::getFrames, this, std::placeholders::_1,
std::placeholders::_2));
}
}

inline
tf2::Duration
from_rclcpp(const rclcpp::Duration & rclcpp_duration)
Expand Down Expand Up @@ -341,7 +311,8 @@ bool Buffer::checkAndErrorDedicatedThreadPresent(std::string * error_str) const

rclcpp::Logger Buffer::getLogger() const
{
return node_ ? node_->get_logger() : rclcpp::get_logger("tf2_buffer");
return node_logging_interface_ ? node_logging_interface_->get_logger() : rclcpp::get_logger(
"tf2_buffer");
}

} // namespace tf2_ros