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Fix for #589 - Should be able to transform with default timeout #593

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merged 2 commits into from
Jul 17, 2023
Merged

Fix for #589 - Should be able to transform with default timeout #593

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f5db32e
Fix for upstream geometry2#589
vineet131 Mar 29, 2023
c195135
Add test for timeouts on non-dedicated thread
vineet131 Jul 15, 2023
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4 changes: 2 additions & 2 deletions tf2_ros/src/buffer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,7 @@ Buffer::canTransform(
const std::string & target_frame, const std::string & source_frame,
const tf2::TimePoint & time, const tf2::Duration timeout, std::string * errstr) const
{
if (!checkAndErrorDedicatedThreadPresent(errstr)) {
if (timeout != tf2::durationFromSec(0.0) && !checkAndErrorDedicatedThreadPresent(errstr)) {
return false;
}

Expand Down Expand Up @@ -171,7 +171,7 @@ Buffer::canTransform(
const std::string & source_frame, const tf2::TimePoint & source_time,
const std::string & fixed_frame, const tf2::Duration timeout, std::string * errstr) const
{
if (!checkAndErrorDedicatedThreadPresent(errstr)) {
if (timeout != tf2::durationFromSec(0.0) && !checkAndErrorDedicatedThreadPresent(errstr)) {
return false;
}

Expand Down
43 changes: 43 additions & 0 deletions tf2_ros/test/test_buffer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -138,6 +138,49 @@ TEST(test_buffer, can_transform_valid_transform)
EXPECT_DOUBLE_EQ(transform.transform.translation.z, output_rclcpp.transform.translation.z);
}

TEST(test_buffer, can_transform_without_dedicated_thread)
{
rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
tf2_ros::Buffer buffer(clock);
buffer.setUsingDedicatedThread(false);

rclcpp::Time rclcpp_time = clock->now();
tf2::TimePoint tf2_time(std::chrono::nanoseconds(rclcpp_time.nanoseconds()));

geometry_msgs::msg::TransformStamped transform;
transform.header.frame_id = "foo";
transform.header.stamp = builtin_interfaces::msg::Time(rclcpp_time);
transform.child_frame_id = "bar";
transform.transform.translation.x = 42.0;
transform.transform.translation.y = -3.14;
transform.transform.translation.z = 0.0;
transform.transform.rotation.w = 1.0;
transform.transform.rotation.x = 0.0;
transform.transform.rotation.y = 0.0;
transform.transform.rotation.z = 0.0;

EXPECT_TRUE(buffer.setTransform(transform, "unittest"));

// Should NOT error with default timeout
EXPECT_TRUE(buffer.canTransform("bar", "foo", tf2_time));
EXPECT_TRUE(buffer.canTransform("bar", "foo", rclcpp_time));
// Should error when timeout is not default
EXPECT_FALSE(buffer.canTransform("bar", "foo", tf2_time, std::chrono::seconds(2)));
EXPECT_FALSE(buffer.canTransform("bar", "foo", rclcpp_time, rclcpp::Duration::from_seconds(1.0)));

auto output = buffer.lookupTransform("foo", "bar", tf2_time);
EXPECT_STREQ(transform.child_frame_id.c_str(), output.child_frame_id.c_str());
EXPECT_DOUBLE_EQ(transform.transform.translation.x, output.transform.translation.x);
EXPECT_DOUBLE_EQ(transform.transform.translation.y, output.transform.translation.y);
EXPECT_DOUBLE_EQ(transform.transform.translation.z, output.transform.translation.z);

auto output_rclcpp = buffer.lookupTransform("foo", "bar", rclcpp_time);
EXPECT_STREQ(transform.child_frame_id.c_str(), output_rclcpp.child_frame_id.c_str());
EXPECT_DOUBLE_EQ(transform.transform.translation.x, output_rclcpp.transform.translation.x);
EXPECT_DOUBLE_EQ(transform.transform.translation.y, output_rclcpp.transform.translation.y);
EXPECT_DOUBLE_EQ(transform.transform.translation.z, output_rclcpp.transform.translation.z);
}

TEST(test_buffer, wait_for_transform_valid)
{
rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
Expand Down