frame_transformer::Node Class Reference

Node which subcribes to and input topic, transforms the data into a new frame and republishes it onto an output topic. More...

#include <frame_transformer_node.hpp>

Inheritance diagram for frame_transformer::Node:

Collaboration diagram for frame_transformer::Node:

Public Member Functions
	Node (const rclcpp::NodeOptions &)
	Node constructor. More...
std::unique_ptr< TransformerBase >	build_transformer ()
	Factory method which returns an initialized pointer to a TransformerBase. More...
carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &)
carma_ros2_utils::CallbackReturn	handle_on_cleanup (const rclcpp_lifecycle::State &)
	FRIEND_TEST (frame_transformer_test, transform_test)
	FRIEND_TEST (frame_transformer_test, point_cloud_transform_test)

Private Attributes
Config	config_
	Node configuration. More...
std::unique_ptr< TransformerBase >	transformer_
	Pointer to a transformer which will setup its own pub/subs to perform the transformation More...
std::shared_ptr< tf2_ros::Buffer >	buffer_
	tf2 Buffer to store transforms broadcast on the system More...
std::shared_ptr< tf2_ros::TransformListener >	listener_
	tf2 Listener to subscribe to system transform broadcasts More...

Detailed Description

Node which subcribes to and input topic, transforms the data into a new frame and republishes it onto an output topic.

Definition at line 36 of file frame_transformer_node.hpp.

Constructor & Destructor Documentation

Node()

frame_transformer::Node::Node ( const rclcpp::NodeOptions &  options )

explicit

Node constructor.

Definition at line 23 of file frame_transformer_node.cpp.

      : carma_ros2_utils::CarmaLifecycleNode(options)
  {
    // Create default config
    config_ = Config();
 
    // Declare parameters and defaults
    config_.message_type = declare_parameter<std::string>("message_type", config_.message_type);
    config_.target_frame = declare_parameter<std::string>("target_frame", config_.target_frame);
    config_.queue_size = declare_parameter<int>("queue_size", config_.queue_size);
    config_.timeout = declare_parameter<int>("timeout", config_.timeout);
  }

References config_, frame_transformer::Config::message_type, frame_transformer::Config::queue_size, frame_transformer::Config::target_frame, and frame_transformer::Config::timeout.

Member Function Documentation

build_transformer()

std::unique_ptr< TransformerBase > frame_transformer::Node::build_transformer

(

)

Factory method which returns an initialized pointer to a TransformerBase.

ASSUMPTION: this->config_ and this->buffer_ are already initialized

Returns

Initialized pointer to a TransformBase object which contains the required pub/sub for transformations to occur

Definition at line 36 of file frame_transformer_node.cpp.

                                                         {
    
    // NOTE: IMU messages could be added once imu_pipeline package is ported to noetic and added as a dependency
 
    auto type = config_.message_type;
    boost::algorithm::trim(type); // Trim white space from the type string
 
    if (type == "geometry_msgs/Vector3Stamped")
      return std::make_unique<Transformer<geometry_msgs::msg::Vector3Stamped>>(config_, buffer_, shared_from_this());
    
    else if (type == "geometry_msgs/PointStamped")
      return std::make_unique<Transformer<geometry_msgs::msg::PointStamped>>(config_, buffer_, shared_from_this());
    
    else if (type == "geometry_msgs/PoseStamped")
      return std::make_unique<Transformer<geometry_msgs::msg::PoseStamped>>(config_, buffer_, shared_from_this());
    
    else if (type == "geometry_msgs/PoseWithCovarianceStamped")
      return std::make_unique<Transformer<geometry_msgs::msg::PoseWithCovarianceStamped>>(config_, buffer_, shared_from_this());
    
    else if (type == "geometry_msgs/QuaternionStamped")
      return std::make_unique<Transformer<geometry_msgs::msg::QuaternionStamped>>(config_, buffer_, shared_from_this());
    
    else if (type == "geometry_msgs/TransformStamped")
      return std::make_unique<Transformer<geometry_msgs::msg::TransformStamped>>(config_, buffer_, shared_from_this());
 
    else if (type == "sensor_msgs/PointCloud2")
      return std::make_unique<Transformer<sensor_msgs::msg::PointCloud2>>(config_, buffer_, shared_from_this());
 
    else if (type == "autoware_auto_msgs/BoundingBoxArray")
      return std::make_unique<Transformer<autoware_auto_msgs::msg::BoundingBoxArray>>(config_, buffer_, shared_from_this());
 
    else if (type == "autoware_auto_msgs/DetectedObjects")
      return std::make_unique<Transformer<autoware_auto_msgs::msg::DetectedObjects>>(config_, buffer_, shared_from_this());
 
    else
      return nullptr;
 
  }

References buffer_, config_, and frame_transformer::Config::message_type.

Referenced by handle_on_configure().

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FRIEND_TEST() [1/2]

frame_transformer::Node::FRIEND_TEST	(	frame_transformer_test	,
		point_cloud_transform_test
	)

FRIEND_TEST() [2/2]

frame_transformer::Node::FRIEND_TEST	(	frame_transformer_test	,
		transform_test
	)

handle_on_cleanup()

carma_ros2_utils::CallbackReturn frame_transformer::Node::handle_on_cleanup

(

const rclcpp_lifecycle::State &

)

Definition at line 113 of file frame_transformer_node.cpp.

                                                                                      {
 
    transformer_.reset(nullptr); // On cleanup clear the old transformer
    buffer_.reset(); // On cleanup clear the old buffer
    listener_.reset(); // On cleanup clear the old listener
 
    return CallbackReturn::SUCCESS;
  }

References buffer_, listener_, and transformer_.

handle_on_configure()

carma_ros2_utils::CallbackReturn frame_transformer::Node::handle_on_configure

(

const rclcpp_lifecycle::State &

)

Definition at line 75 of file frame_transformer_node.cpp.

  {
    // Reset config
    config_ = Config();
 
    // Load parameters
    get_parameter<std::string>("message_type", config_.message_type);
    get_parameter<std::string>("target_frame", config_.target_frame);
    get_parameter<int>("queue_size", config_.queue_size);
    get_parameter<int>("timeout", config_.timeout);
 
 
    RCLCPP_INFO_STREAM(get_logger(), "Loaded params: " << config_);
 
    // NOTE: Due to the nature of this node generating sub/pubs based of parameters. 
    //       Dynamically changing the parameters is not recommended. Therefore a parameter callback is not implemented. 
 
 
    buffer_ = std::make_shared<tf2_ros::Buffer>(get_clock());
 
    if (config_.timeout != 0) {
      buffer_->setUsingDedicatedThread(true);
    }
 
    listener_ = std::make_shared<tf2_ros::TransformListener>(*buffer_, true);
 
    // Set the transformer based on the specified message type
    transformer_ = build_transformer();
 
    if (!transformer_) {
      RCLCPP_ERROR_STREAM(get_logger(), "Failed to build transformer for specified message_type: " << config_.message_type);
      return CallbackReturn::FAILURE;
    }
 
    // Return success if everthing initialized successfully
    return CallbackReturn::SUCCESS;
  }

References buffer_, build_transformer(), config_, listener_, frame_transformer::Config::message_type, frame_transformer::Config::queue_size, frame_transformer::Config::target_frame, frame_transformer::Config::timeout, and transformer_.

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Member Data Documentation

buffer_

std::shared_ptr<tf2_ros::Buffer> frame_transformer::Node::buffer_

private

tf2 Buffer to store transforms broadcast on the system

Definition at line 48 of file frame_transformer_node.hpp.

Referenced by build_transformer(), handle_on_cleanup(), and handle_on_configure().

config_

Config frame_transformer::Node::config_

private

Node configuration.

Definition at line 42 of file frame_transformer_node.hpp.

Referenced by Node(), build_transformer(), and handle_on_configure().

listener_

std::shared_ptr<tf2_ros::TransformListener> frame_transformer::Node::listener_

private

tf2 Listener to subscribe to system transform broadcasts

Definition at line 51 of file frame_transformer_node.hpp.

Referenced by handle_on_cleanup(), and handle_on_configure().

transformer_

std::unique_ptr<TransformerBase> frame_transformer::Node::transformer_

private

Pointer to a transformer which will setup its own pub/subs to perform the transformation

Definition at line 45 of file frame_transformer_node.hpp.

Referenced by handle_on_cleanup(), and handle_on_configure().

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The documentation for this class was generated from the following files:

• frame_transformer/include/frame_transformer/frame_transformer_node.hpp
• frame_transformer/src/frame_transformer_node.cpp