cl_moveit2z::CpTfListener Class Reference

Component for shared TF2 transform management across all behaviors. More...

#include <cp_tf_listener.hpp>

Inheritance diagram for cl_moveit2z::CpTfListener:

Collaboration diagram for cl_moveit2z::CpTfListener:

Public Member Functions
	CpTfListener ()=default
virtual	~CpTfListener ()=default
void	onInitialize () override
	Initialize the shared TF2 buffer and listener.
std::optional< geometry_msgs::msg::TransformStamped >	lookupTransform (const std::string &target_frame, const std::string &source_frame, const rclcpp::Time &time=rclcpp::Time(0))
	Thread-safe transform lookup.
std::optional< geometry_msgs::msg::PoseStamped >	transformPose (const geometry_msgs::msg::PoseStamped &pose, const std::string &target_frame)
	Transform a pose to a different frame.
bool	canTransform (const std::string &target_frame, const std::string &source_frame, const rclcpp::Time &time=rclcpp::Time(0), const rclcpp::Duration &timeout=rclcpp::Duration::from_seconds(0.0))
	Check if a transform is available.
std::shared_ptr< tf2_ros::Buffer >	getBuffer ()
	Get raw access to the TF2 buffer for advanced use cases.
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Static Private Attributes
static std::shared_ptr< tf2_ros::Buffer >	tfBuffer_ = nullptr
static std::shared_ptr< tf2_ros::TransformListener >	tfListener_ = nullptr
static std::mutex	tfMutex_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist)
template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist)
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)
template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger () const
ISmaccStateMachine *	getStateMachine ()
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Component for shared TF2 transform management across all behaviors.

This component provides centralized access to TF2 transforms using static resource sharing to avoid creating multiple tf2_ros::Buffer and tf2_ros::TransformListener instances across different behaviors.

Pattern: Static resource sharing (similar to nav2z_client's Pose component)

Definition at line 45 of file cp_tf_listener.hpp.

Constructor & Destructor Documentation

CpTfListener()

cl_moveit2z::CpTfListener::CpTfListener ( )

default

~CpTfListener()

virtual cl_moveit2z::CpTfListener::~CpTfListener ( )

virtualdefault

Member Function Documentation

canTransform()

bool cl_moveit2z::CpTfListener::canTransform ( const std::string & target_frame, const std::string & source_frame, const rclcpp::Time & time = rclcpp::Time(0), const rclcpp::Duration & timeout = rclcpp::Duration::from_seconds(0.0) )

inline

Check if a transform is available.

Parameters

target_frame	Target frame
source_frame	Source frame
time	Time to check for (default: latest)
timeout	How long to wait for the transform

Returns

bool True if transform is available, false otherwise

Definition at line 151 of file cp_tf_listener.hpp.

  {
    std::lock_guard<std::mutex> guard(tfMutex_);
 
    if (!tfBuffer_)
    {
      RCLCPP_ERROR(
        getLogger(), "[CpTfListener] TF buffer not initialized. Call onInitialize() first.");
      return false;
    }
 
    return tfBuffer_->canTransform(target_frame, source_frame, time, timeout);
  }

References smacc2::ISmaccComponent::getLogger(), tfBuffer_, and tfMutex_.

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getBuffer()

std::shared_ptr< tf2_ros::Buffer > cl_moveit2z::CpTfListener::getBuffer ( )

inline

Get raw access to the TF2 buffer for advanced use cases.

WARNING: Direct buffer access bypasses thread safety. Use with caution.

Returns

std::shared_ptr<tf2_ros::Buffer> Shared pointer to the TF2 buffer

Definition at line 175 of file cp_tf_listener.hpp.

  {
    std::lock_guard<std::mutex> guard(tfMutex_);
    return tfBuffer_;
  }

References tfBuffer_, and tfMutex_.

lookupTransform()

std::optional< geometry_msgs::msg::TransformStamped > cl_moveit2z::CpTfListener::lookupTransform ( const std::string & target_frame, const std::string & source_frame, const rclcpp::Time & time = rclcpp::Time(0) )

inline

Thread-safe transform lookup.

Parameters

target_frame	Target frame for the transform
source_frame	Source frame for the transform
time	Time at which to get the transform (default: latest available)

Returns

std::optional<geometry_msgs::msg::TransformStamped> Transform if available, std::nullopt otherwise

Definition at line 81 of file cp_tf_listener.hpp.

  {
    std::lock_guard<std::mutex> guard(tfMutex_);
 
    if (!tfBuffer_)
    {
      RCLCPP_ERROR(
        getLogger(), "[CpTfListener] TF buffer not initialized. Call onInitialize() first.");
      return std::nullopt;
    }
 
    try
    {
      auto transform = tfBuffer_->lookupTransform(target_frame, source_frame, time);
      return transform;
    }
    catch (const tf2::TransformException & ex)
    {
      RCLCPP_WARN(
        getLogger(), "[CpTfListener] Could not get transform from '%s' to '%s': %s",
        source_frame.c_str(), target_frame.c_str(), ex.what());
      return std::nullopt;
    }
  }

References smacc2::ISmaccComponent::getLogger(), tfBuffer_, and tfMutex_.

Referenced by cl_moveit2z::CbCircularPivotMotion::computeCurrentEndEffectorPoseRelativeToPivot(), cl_moveit2z::CbMoveEndEffectorTrajectory::getCurrentEndEffectorPose(), and cl_moveit2z::CbEndEffectorRotate::onEntry().

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onInitialize()

void cl_moveit2z::CpTfListener::onInitialize ( )

inlineoverridevirtual

Initialize the shared TF2 buffer and listener.

This method initializes the static tf2_ros::Buffer and tf2_ros::TransformListener on first use. Subsequent component instances will reuse the same resources.

Reimplemented from smacc2::ISmaccComponent.

Definition at line 57 of file cp_tf_listener.hpp.

  {
    std::lock_guard<std::mutex> guard(tfMutex_);
 
    if (!tfBuffer_)
    {
      RCLCPP_INFO(getLogger(), "[CpTfListener] Initializing shared TF2 buffer and listener");
      tfBuffer_ = std::make_shared<tf2_ros::Buffer>(getNode()->get_clock());
      tfListener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer_);
    }
    else
    {
      RCLCPP_DEBUG(getLogger(), "[CpTfListener] Reusing existing shared TF2 resources");
    }
  }

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getNode(), tfBuffer_, tfListener_, and tfMutex_.

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transformPose()

std::optional< geometry_msgs::msg::PoseStamped > cl_moveit2z::CpTfListener::transformPose ( const geometry_msgs::msg::PoseStamped & pose, const std::string & target_frame )

inline

Transform a pose to a different frame.

Parameters

pose	Input pose in its original frame
target_frame	Target frame to transform the pose into

Returns

std::optional<geometry_msgs::msg::PoseStamped> Transformed pose if successful, std::nullopt otherwise

Definition at line 115 of file cp_tf_listener.hpp.

  {
    std::lock_guard<std::mutex> guard(tfMutex_);
 
    if (!tfBuffer_)
    {
      RCLCPP_ERROR(
        getLogger(), "[CpTfListener] TF buffer not initialized. Call onInitialize() first.");
      return std::nullopt;
    }
 
    try
    {
      geometry_msgs::msg::PoseStamped transformed_pose;
      tfBuffer_->transform(pose, transformed_pose, target_frame);
      return transformed_pose;
    }
    catch (const tf2::TransformException & ex)
    {
      RCLCPP_WARN(
        getLogger(), "[CpTfListener] Could not transform pose to frame '%s': %s",
        target_frame.c_str(), ex.what());
      return std::nullopt;
    }
  }

References smacc2::ISmaccComponent::getLogger(), tfBuffer_, and tfMutex_.

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Member Data Documentation

tfBuffer_

std::shared_ptr< tf2_ros::Buffer > cl_moveit2z::CpTfListener::tfBuffer_ = nullptr

staticprivate

Definition at line 183 of file cp_tf_listener.hpp.

Referenced by canTransform(), getBuffer(), lookupTransform(), onInitialize(), and transformPose().

tfListener_

std::shared_ptr< tf2_ros::TransformListener > cl_moveit2z::CpTfListener::tfListener_ = nullptr

staticprivate

Definition at line 184 of file cp_tf_listener.hpp.

Referenced by onInitialize().

tfMutex_

std::mutex cl_moveit2z::CpTfListener::tfMutex_

staticprivate

Definition at line 185 of file cp_tf_listener.hpp.

Referenced by canTransform(), getBuffer(), lookupTransform(), onInitialize(), and transformPose().

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

• smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_tf_listener.hpp