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ros2 / geometry2

A set of ROS packages for keeping track of coordinate transforms.
BSD 3-Clause "New" or "Revised" License
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Enable Twist interpolator #646

Closed ahcorde closed 3 months ago

ahcorde commented 5 months ago

Related with this issue https://github.com/ros2/geometry2/issues/643

ahcorde commented 5 months ago

Ey @caguero and @tfoote when you have some time, do you mind to review the PR?

I'm not really sure how to handle the doTransform API in tf2_geometry_msgs

tfoote commented 4 months ago

@ahcorde I took a stab at adding some notation here to get us consistent. https://github.com/ros2/ros2_documentation/tree/tf_velocity

Based on this I think that the header.frame_id should be the observation frame. And the other two datatypes should be capturing the semantic meaning. Where the naive transform method is only doing the reprojection of the observation. And then we can have a separate API for adding/subtracting transforms across moving frames which will be more complicated.

ahcorde commented 3 months ago
tfoote commented 3 months ago

I rebased common_interfaces with the same branch name https://github.com/ros2/common_interfaces/tree/ahcorde/rolling/lookupvelocity

tfoote commented 3 months ago

It looks like we have some linter errors and a symbol visibility on Windows issue in the CI

ahcorde commented 3 months ago
ahcorde commented 3 months ago
ahcorde commented 3 months ago
nachovizzo commented 2 months ago

Are there any plans to backport this to Iron/jazzy?

ahcorde commented 1 month ago

Are there any plans to backport this to Iron/jazzy?

It's already on Jazzy, I can backport this to Humble and Iron, because this is not breaking ABI or API

ahcorde commented 1 month ago

https://github.com/Mergifyio backport humble iron

mergify[bot] commented 1 month ago

backport humble iron

✅ Backports have been created

* [#684 Enable Twist interpolator (backport #646)](https://github.com/ros2/geometry2/pull/684) has been created for branch `humble` but encountered conflicts * [#685 Enable Twist interpolator (backport #646)](https://github.com/ros2/geometry2/pull/685) has been created for branch `iron` but encountered conflicts
nachovizzo commented 1 month ago

Are there any plans to backport this to Iron/jazzy?

It's already on Jazzy, I can backport this to Humble and Iron, because this is not breaking ABI or API

@ahcorde thanks !