Merged
Conversation
tenzincrouch
reviewed
Oct 6, 2024
| transformationSensorToMap_ = tf2::transformToEigen(transformGeom); | ||
|
|
||
| transformGeom = transformBuffer_.lookupTransform(generalParameters_.robotBaseFrameId_, sensorFrameId_, timeStamp, | ||
| ros::Duration(1.0)); // TODO(max): Why wrong direction? |
There was a problem hiding this comment.
@ecthelion99 - What is this TODO? Did you put it here or was it in existing code?
Collaborator
Author
There was a problem hiding this comment.
These were all existing
tenzincrouch
reviewed
Oct 6, 2024
| translationBaseToSensorInBaseFrame_.toImplementation() = translationVector; | ||
|
|
||
| transformGeom = transformBuffer_.lookupTransform(generalParameters_.mapFrameId_, generalParameters_.robotBaseFrameId_, | ||
| timeStamp, ros::Duration(1.0)); // TODO(max): Why wrong direction? |
tenzincrouch
reviewed
Oct 6, 2024
| transformListener_.lookupTransform(targetFrame, inputFrameId, timeStamp, transformTf); | ||
| } catch (tf::TransformException& ex) { | ||
| geometry_msgs::TransformStamped transformGeom; | ||
| transformGeom = transformBuffer_.lookupTransform(targetFrame, inputFrameId, timeStamp, ros::Duration(1.0)); // FIXME: missing 0.001 retry duration |
tenzincrouch
approved these changes
Oct 6, 2024
tenzincrouch
left a comment
tenzincrouch
left a comment
There was a problem hiding this comment.
Changes look fine. Noted there are several TODO/Fixmes. Keen to understand what these are and why they are there better.
|
Ok, it would be good to understand what limitations/bugs they describe so
that we dont have any surprises later.
Do you have any thoughts?
…On Sun, Oct 6, 2024 at 8:12 PM Taaj Street ***@***.***> wrote:
***@***.**** commented on this pull request.
------------------------------
In elevation_mapping/src/sensor_processors/SensorProcessorBase.cpp
<#1 (comment)>
:
> - Eigen::Affine3d transform;
- poseTFToEigen(transformTf, transform);
- rotationBaseToSensor_.setMatrix(transform.rotation().matrix());
- translationBaseToSensorInBaseFrame_.toImplementation() = transform.translation();
-
- transformListener_.lookupTransform(generalParameters_.mapFrameId_, generalParameters_.robotBaseFrameId_, timeStamp,
- transformTf); // TODO(max): Why wrong direction?
- poseTFToEigen(transformTf, transform);
- rotationMapToBase_.setMatrix(transform.rotation().matrix());
- translationMapToBaseInMapFrame_.toImplementation() = transform.translation();
+ geometry_msgs::TransformStamped transformGeom;
+ transformGeom = transformBuffer_.lookupTransform(generalParameters_.mapFrameId_, sensorFrameId_, timeStamp, ros::Duration(1.0));
+ transformationSensorToMap_ = tf2::transformToEigen(transformGeom);
+
+ transformGeom = transformBuffer_.lookupTransform(generalParameters_.robotBaseFrameId_, sensorFrameId_, timeStamp,
+ ros::Duration(1.0)); // TODO(max): Why wrong direction?
These were all existing
—
Reply to this email directly, view it on GitHub
<#1 (comment)>,
or unsubscribe
<https://github.com/notifications/unsubscribe-auth/APIX2QBZPZBMYVEW63CRZ43Z2D5JPAVCNFSM6AAAAABO6JFDROVHI2DSMVQWIX3LMV43YUDVNRWFEZLROVSXG5CSMV3GSZLXHMZDGNJQGQ4DQNZSHE>
.
You are receiving this because your review was requested.Message ID:
***@***.***>
|
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
In preparation for a ROS2 port, this PR upgrades to tf2 from tf. It is a rebase of ANYbotics#203 onto master. Built and tested on ROS Noetic.