^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package tf2 ^^^^^^^^^^^^^^^^^^^^^^^^^ 0.5.16 (2017-07-14) ------------------- * remove explicit templating to standardize on overloading. But provide backwards compatibility with deprecation. * Merge pull request `#144 <https://github.com/ros/geometry2/issues/144>`_ from clearpathrobotics/dead_lock_fix Solve a bug that causes a deadlock in MessageFilter * Resolve 2 places where the error_msg would not be propogated. Fixes `#198 <https://github.com/ros/geometry2/issues/198>`_ * Remove generate_rand_vectors() from a number of tests. (`#227 <https://github.com/ros/geometry2/issues/227>`_) * fixing include directory order to support overlays (`#231 <https://github.com/ros/geometry2/issues/231>`_) * replaced dependencies on tf2_msgs_gencpp by exported dependencies * Document the lifetime of the returned reference for getFrameId getTimestamp * relax normalization tolerance. `#196 <https://github.com/ros/geometry2/issues/196>`_ was too strict for some use cases. (`#220 <https://github.com/ros/geometry2/issues/220>`_) * Solve a bug that causes a deadlock in MessageFilter * Contributors: Adel Fakih, Chris Lalancette, Christopher Wecht, Tully Foote, dhood 0.5.15 (2017-01-24) ------------------- 0.5.14 (2017-01-16) ------------------- * fixes `#194 <https://github.com/ros/geometry2/issues/194>`_ check for quaternion normalization before inserting into storage (`#196 <https://github.com/ros/geometry2/issues/196>`_) * check for quaternion normalization before inserting into storage * Add test to check for transform failure on invalid quaternion input * updating getAngleShortestPath() (`#187 <https://github.com/ros/geometry2/issues/187>`_) * Move internal cache functions into a namespace Fixes https://github.com/ros/geometry2/issues/175 * Link properly to convert.h * Landing page for tf2 describing the conversion interface * Fix comment on BufferCore::MAX_GRAPH_DEPTH. * Contributors: Jackie Kay, Phil Osteen, Tully Foote, alex, gavanderhoorn 0.5.13 (2016-03-04) ------------------- 0.5.12 (2015-08-05) ------------------- * add utilities to get yaw, pitch, roll and identity transform * provide more conversions between types The previous conversion always assumed that it was converting a non-message type to a non-message type. Now, one, both or none can be a message or a non-message. * Contributors: Vincent Rabaud 0.5.11 (2015-04-22) ------------------- 0.5.10 (2015-04-21) ------------------- * move lct_cache into function local memoryfor `#92 <https://github.com/ros/geometry_experimental/issues/92>`_ * Clean up range checking. Re: `#92 <https://github.com/ros/geometry_experimental/issues/92>`_ * Fixed chainToVector * release lock before possibly invoking user callbacks. Fixes `#91 <https://github.com/ros/geometry_experimental/issues/91>`_ * Contributors: Jackie Kay, Tully Foote 0.5.9 (2015-03-25) ------------------ * fixing edge case where two no frame id lookups matched in getLatestCommonTime * Contributors: Tully Foote 0.5.8 (2015-03-17) ------------------ * change from default argument to overload to avoid linking issue `#84 <https://github.com/ros/geometry_experimental/issues/84>`_ * remove useless Makefile files * Remove unused assignments in max/min functions * change _allFramesAsDot() -> _allFramesAsDot(double current_time) * Contributors: Jon Binney, Kei Okada, Tully Foote, Vincent Rabaud 0.5.7 (2014-12-23) ------------------ 0.5.6 (2014-09-18) ------------------ 0.5.5 (2014-06-23) ------------------ * convert to use console bridge from upstream debian package https://github.com/ros/rosdistro/issues/4633 * Fix format string * Contributors: Austin, Tully Foote 0.5.4 (2014-05-07) ------------------ * switch to boost signals2 following `ros/ros_comm#267 <https://github.com/ros/ros_comm/issues/267>`_, blocking `ros/geometry#23 <https://github.com/ros/geometry/issues/23>`_ * Contributors: Tully Foote 0.5.3 (2014-02-21) ------------------ 0.5.2 (2014-02-20) ------------------ 0.5.1 (2014-02-14) ------------------ 0.5.0 (2014-02-14) ------------------ 0.4.10 (2013-12-26) ------------------- * updated error message. fixes `#38 <https://github.com/ros/geometry_experimental/issues/38>`_ * tf2: add missing console bridge include directories (fix `#48 <https://github.com/ros/geometry_experimental/issues/48>`_) * Fix const correctness of tf2::Vector3 rotate() method The method does not modify the class thus should be const. This has already been fixed in Bullet itself. * Contributors: Dirk Thomas, Timo Rohling, Tully Foote 0.4.9 (2013-11-06) ------------------ 0.4.8 (2013-11-06) ------------------ * moving python documentation to tf2_ros from tf2 to follow the code * removing legacy rospy dependency. implementation removed in 0.4.0 fixes `#27 <https://github.com/ros/geometry_experimental/issues/27>`_ 0.4.7 (2013-08-28) ------------------ * switching to use allFramesAsStringNoLock inside of getLatestCommonTime and walkToParent and locking in public API _getLatestCommonTime instead re `#23 <https://github.com/ros/geometry_experimental/issues/23>`_ * Fixes a crash in tf's view_frames related to dot code generation in allFramesAsDot 0.4.6 (2013-08-28) ------------------ * cleaner fix for `#19 <https://github.com/ros/geometry_experimental/issues/19>`_ * fix pointer initialization. Fixes `#19 <https://github.com/ros/geometry_experimental/issues/19>`_ * fixes `#18 <https://github.com/ros/geometry_experimental/issues/18>`_ for hydro * package.xml: corrected typo in description 0.4.5 (2013-07-11) ------------------ * adding _chainAsVector method for https://github.com/ros/geometry/issues/18 * adding _allFramesAsDot for backwards compatability https://github.com/ros/geometry/issues/18 0.4.4 (2013-07-09) ------------------ * making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change. * tf2: Fixes a warning on OS X, but generally safer Replaces the use of pointers with shared_ptrs, this allows the polymorphism and makes it so that the compiler doesn't yell at us about calling delete on a class with a public non-virtual destructor. * tf2: Fixes compiler warnings on OS X This exploited a gcc specific extension and is not C++ standard compliant. There used to be a "fix" for OS X which no longer applies. I think it is ok to use this as an int instead of a double, but another way to fix it would be to use a define. * tf2: Fixes linkedit errors on OS X 0.4.3 (2013-07-05) ------------------ 0.4.2 (2013-07-05) ------------------ * adding getCacheLength() to parallel old tf API * removing legacy static const variable MAX_EXTRAPOLATION_DISTANCE copied from tf unnecessesarily 0.4.1 (2013-07-05) ------------------ * adding old style callback notifications to BufferCore to enable backwards compatability of message filters * exposing dedicated thread logic in BufferCore and checking in Buffer * more methods to expose, and check for empty cache before getting latest timestamp * adding methods to enable backwards compatability for passing through to tf::Transformer 0.4.0 (2013-06-27) ------------------ * splitting rospy dependency into tf2_py so tf2 is pure c++ library. * switching to console_bridge from rosconsole * moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2 * Cleaning up unnecessary dependency on roscpp * Cleaning up packaging of tf2 including: removing unused nodehandle fixing overmatch on search and replace cleaning up a few dependencies and linking removing old backup of package.xml making diff minimally different from tf version of library * suppressing bullet LinearMath copy inside of tf2, so it will not collide, and should not be used externally. * Restoring test packages and bullet packages. reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix `#7 <https://github.com/ros/geometry_experimental/issues/7>`_ * fixing includes in unit tests * Make PythonLibs find_package python2 specific On systems with python 3 installed and default, find_package(PythonLibs) will find the python 3 paths and libraries. However, the c++ include structure seems to be different in python 3 and tf2 uses includes that are no longer present or deprecated. Until the includes are made to be python 3 compliant, we should specify that the version of python found must be python 2. 0.3.6 (2013-03-03) ------------------ 0.3.5 (2013-02-15 14:46) ------------------------ * 0.3.4 -> 0.3.5 0.3.4 (2013-02-15 13:14) ------------------------ * 0.3.3 -> 0.3.4 * moving LinearMath includes to include/tf2 0.3.3 (2013-02-15 11:30) ------------------------ * 0.3.2 -> 0.3.3 * fixing include installation of tf2 0.3.2 (2013-02-15 00:42) ------------------------ * 0.3.1 -> 0.3.2 * fixed missing include export & tf2_ros dependecy 0.3.1 (2013-02-14) ------------------ * 0.3.0 -> 0.3.1 * fixing PYTHON installation directory 0.3.0 (2013-02-13) ------------------ * switching to version 0.3.0 * adding setup.py to tf2 package * fixed tf2 exposing python functionality * removed line that was killing tf2_ros.so * fixing catkin message dependencies * removing packages with missing deps * adding missing package.xml * adding missing package.xml * adding missing package.xml * catkinizing geometry-experimental * removing bullet headers from use in header files * removing bullet headers from use in header files * merging my recent changes * setting child_frame_id overlooked in revision 6a0eec022be0 which fixed failing tests * allFramesAsString public and internal methods seperated. Public method is locked, private method is not * fixing another scoped lock * fixing one scoped lock * fixing test compilation * merge * Error message fix, ros-pkg5085 * Check if target equals to source before validation * When target_frame == source_frame, just returns an identity transform. * adding addition ros header includes for strictness * Fixed optimized lookups with compound transforms * Fixed problem in tf2 optimized branch. Quaternion multiplication order was incorrect * fix compilation on 32-bit * Josh fix: Final inverse transform composition (missed multiplying the sourcd->top vector by the target->top inverse orientation). b44877d2b054 * Josh change: fix first/last time case. 46bf33868e0d * fix transform accumulation to parent * fix parent lookup, now works on the real pr2's tree * move the message filter to tf2_ros * tf2::MessageFilter + tests. Still need to change it around to pass in a callback queue, since we're being triggered directly from the tf2 buffer * Don't add the request if the transform is already available. Add some new tests * working transformable callbacks with a simple (incomplete) test case * first pass at a transformable callback api, not tested yet * add interpolation cases * fix getLatestCommonTime -- no longer returns the latest of any of the times * Some more optimization -- allow findClosest to inline * another minor speedup * Minorly speed up canTransform by not requiring the full data lookup, and only looking up the parent * Add explicit operator= so that we can see the time in it on a profile graph. Also some minor cleanup * minor cleanup * add 3 more cases to the speed test * Remove use of btTransform at all from transform accumulation, since the conversion to/from is unnecessary, expensive, and can introduce floating point error * Don't use btTransform as an intermediate when accumulating transforms, as constructing them takes quite a bit of time * Completely remove lookupLists(). canTransform() now uses the same walking code as lookupTransform(). Also fixed a bug in the static transform publisher test * Genericise the walk-to-top-parent code in lookupTransform so that it will be able to be used by canTransform as well (minus the cost of actually computing the transform) * remove id lookup that wasn't doing anything * Some more optimization: * Reduce # of TransformStorage copies made in TimeCache::getData() * Remove use of lookupLists from getLatestCommonTime * lookupTransform() no longer uses lookupLists unless it's called with Time(0). Removes lots of object construction/destruction due to removal of pushing back on the lists * Remove CompactFrameID in favor of a typedef * these mode checks are no longer necessary * Fix crash when testing extrapolation on the forward transforms * Update cache unit tests to work with the changes TransformStorage. Also make sure that BT_USE_DOUBLE_PRECISION is set for tf2. * remove exposure of time_cache.h from buffer_core.h * Removed the mutex from TimeCache, as it's unnecessary (BufferCore needs to have its own mutex locked anyway), and this speeds things up by about 20% Also fixed a number of thread-safety problems * Optimize test_extrapolation a bit, 25% speedup of lookupTransform * use a hash map for looking up frame numbers, speeds up lookupTransform by ~8% * Cache vectors used for looking up transforms. Speeds up lookupTransform by another 10% * speed up lookupTransform by another 25% * speed up lookupTransform by another 2x. also reduces the memory footprint of the cache significantly * sped up lookupTransform by another 2x * First add of a simple speed test Sped up lookupTransform 2x * roscpp dependency explicit, instead of relying on implicit * static transform tested and working * tests passing and all throw catches removed too\! * validating frame_ids up front for lookup exceptions * working with single base class vector * tests passing for static storage * making method private for clarity * static cache implementation and test * cleaning up API doc typos * sphinx docs for Buffer * new dox mainpage * update tf2 manifest * commenting out twist * Changed cache_time to ``cache_time_`` to follow C++ style guide, also initialized it to actually get things to work * no more rand in cache tests * Changing tf2_py.cpp to use underscores instead of camelCase * removing all old converter functions from transform_datatypes.h * removing last references to transform_datatypes.h in tf2 * transform conversions internalized * removing unused datatypes * copying bullet transform headers into tf2 and breaking bullet dependency * merge * removing dependency on tf * removing include of old tf from tf2 * update doc * merge * kdl unittest passing * Spaces instead of tabs in YAML grrrr * Adding quotes for parent * canTransform advanced ported * Hopefully fixing YAML syntax * new version of view_frames in new tf2_tools package * testing new argument validation and catching bug * Python support for debugging * merge * adding validation of frame_ids in queries with warnings and exceptions where appropriate * Exposing ability to get frames as a string * A compiling version of YAML debugging interface for BufferCore * placeholder for tf debug * fixing tf:: to tf2:: ns issues and stripping slashes on set in tf2 for backwards compatiabily * Adding a python version of the BufferClient * moving test to new package * merging * working unit test for BufferCore::lookupTransform * removing unused method test and converting NO_PARENT test to new API * Adding some comments * Moving the python bindings for tf2 to the tf2 package from the tf2_py package * buffercore tests upgraded * porting tf_unittest while running incrmentally instead of block copy * BufferCore::clear ported forward * successfully changed lookupTransform advanced to new version * switching to new implementation of lookupTransform tests still passing * compiling lookupTransform new version * removing tf_prefix from BufferCore. BuferCore is independent of any frame_ids. tf_prefix should be implemented at the ROS API level. * initializing tf_prefix * adding missing initialization * suppressing warnings * more tests ported * removing tests for apis not ported forward * setTransform tests ported * old tests in new package passing due to backwards dependency. now for the fun, port all 1500 lines :-) * setTransform working in new framework as well as old * porting more methods * more compatability * bringing in helper functions for buffer_core from tf.h/cpp * rethrowing to new exceptions * converting Storage to geometry_msgs::TransformStamped * removing deprecated useage * cleaning up includes * moving all implementations into cpp file * switching test to new class from old one * Compiling version of the buffer client * moving listener to tf_cpp * removing listener, it should be in another package * most of listener * add cantransform implementation * removing deprecated API usage * initial import of listener header * move implementation into library * 2 tests of buffer * moving executables back into bin * compiling again with new design * rename tfcore to buffercore * almost compiling version of template code * compiling tf2_core simple test * add test to start compiling * copying in tf_unittest for tf_core testing template * prototype of tf2_core implemented using old tf. * first version of template functions * remove timeouts * properly naming tf2_core.h from tf_core.h * working cache test with tf2 lib * first unit test passing, not yet ported * tf_core api * tf2 v2 * aborting port * moving across time cache tf and datatypes headers * copying exceptions from tf * switching to tf2 from tf_core *