Packages for common geometric calculations including the ROS transform library, "tf". Also includes ROS bindings for "bullet" physics engine and "kdl" kinematics/dynamics package.
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tf Python `waitForTransform` API documentation #229
In the tf Python documentation, the Transformer.waitForTransform method lists that passing a value of rospy.Time() to the time parameter will "indicate present time".
time – time of the transformation, use rospy.Time() to indicate present time.
However, I believe the underlying BufferCore.walkToTopParent type will lookup the latest common time.
//If getting the latest get the latest common time
if (time == ros::Time())
{
int retval = getLatestCommonTime(target_id, source_id, time, error_string);
if (retval != tf2_msgs::TF2Error::NO_ERROR)
{
return retval;
}
}
I understand that this tf Python API is older and somewhat deprecated in favor of tf2. But can we update this waitForTransform method documentation? Something like:
time – time of the transformation, use rospy.Time() to indicate latest common time.
If someone can confirm my understanding is correct, then I would be happy to open the PR for the documentation.
In the tf Python documentation, the
Transformer.waitForTransform
method lists that passing a value ofrospy.Time()
to thetime
parameter will "indicate present time".https://github.com/ros/geometry/blob/52ed78c8cf2891ae975fd5456fa91e9b4aad5c1a/tf/tf_python.rst http://docs.ros.org/en/melodic/api/tf/html/python/tf_python.html
However, I believe the underlying
BufferCore.walkToTopParent
type will lookup the latest common time.https://github.com/ros/geometry2/blob/c73b5939723db078c9bbe18523230ad54f859682/tf2/src/buffer_core.cpp#L330-L338
I understand that this tf Python API is older and somewhat deprecated in favor of tf2. But can we update this
waitForTransform
method documentation? Something like:If someone can confirm my understanding is correct, then I would be happy to open the PR for the documentation.