interface definition for tf-broadcasters

ros / roslisp_common

Clone of the old roslisp_common SVN repo from code.ros.org.

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interface definition for tf-broadcasters #37

Open airballking opened 8 years ago

airballking commented 8 years ago

After we have established a common interface for looking up transforms from TF for both cl-tf and cl-tf2. How about we also make such an interface for broadcasting transforms to TF?

@gaya- @bbrieber @mpomarlan @fairlight1337 @gheorghelisca What do you think?

gheorghelisca commented 8 years ago

I propose an interface for broadcasting transforms to TF of the form:

broadcast-transforms (broadcaster &rest transforms) for publishing once a set of transforms stamped packed into a single TF message.

gaya- commented 8 years ago

Great idea. In general, a broadcaster would be 99.9% identical for both TF and TF2, except the different ways of naming the tf message. So, the broadcaster implementation could theoretically also go into the cl_transforms_stamped package. Considering the static transforms publisher, I think it would also be useful, as it would have a lower publishing rate.

PR anyone? @airballking, are you already working on this or would you like me to come up with an initial suggestion?

gheorghelisca commented 8 years ago

publishing transforms on /tf depends only on cl_transforms_stamped.
for publishing once we can simply reuse the broadcaster from cl_tf which i moved to cl_transforms_stamped.
for publishing statically i implemented a transform publisher static global in cl_transforms_stamped. if necessary, it can be adapted to allow multiple instances of static publishers.
the code is ready and right after we decide what we do with the broadcaster from cl_tf2 i will make a pull request