niryo_libraries.tf2_ros.buffer.Buffer

class documentation

class Buffer(tf2.BufferCore, tf2_ros.BufferInterface):

Constructor: Buffer(cache_time, debug)

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Standard implementation of the tf2_ros.BufferInterface abstract data type.

Inherits from tf2_ros.buffer_interface.BufferInterface and tf2.BufferCore.

Stores known frames and optionally offers a ROS service, "tf2_frames", which responds to client requests with a response containing a tf2_msgs.FrameGraph representing the relationship of known frames.

Method __init__ No summary
Method can_transform Check if a transform from the source frame to the target frame is possible.
Method can_transform_full Check if a transform from the source frame to the target frame is possible (advanced API).
Method lookup_transform Get the transform from the source frame to the target frame.
Method lookup_transform_full Get the transform from the source frame to the target frame using the advanced API.
Instance Variable CAN_TRANSFORM_POLLING_SCALE Undocumented
Method __get_frames Undocumented
def __init__(self, cache_time=None, debug=True):
def can_transform(self, target_frame, source_frame, time, timeout=rospy.Duration(0.0), return_debug_tuple=False):

Check if a transform from the source frame to the target frame is possible.

Parameters
target_frameName of the frame to transform into.
source_frameName of the input frame.
timeThe time at which to get the transform. (0 will get the latest)
timeout(Optional) Time to wait for the target frame to become available.
return_debug_tupleUndocumented
return_debug_type(Optional) If true, return a tuple representing debug information.
Returns
boolTrue if the transform is possible, false otherwise.
def can_transform_full(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout=rospy.Duration(0.0), return_debug_tuple=False):

Check if a transform from the source frame to the target frame is possible (advanced API).

Must be implemented by a subclass of BufferInterface.

Parameters
target_frameName of the frame to transform into.
target_timeThe time to transform to. (0 will get the latest)
source_frameName of the input frame.
source_timeThe time at which source_frame will be evaluated. (0 will get the latest)
fixed_frameName of the frame to consider constant in time.
timeout(Optional) Time to wait for the target frame to become available.
return_debug_tupleUndocumented
return_debug_type(Optional) If true, return a tuple representing debug information.
Returns
boolTrue if the transform is possible, false otherwise.
def lookup_transform(self, target_frame, source_frame, time, timeout=rospy.Duration(0.0)):

Get the transform from the source frame to the target frame.

Parameters
target_frameName of the frame to transform into.
source_frameName of the input frame.
timeThe time at which to get the transform. (0 will get the latest)
timeout(Optional) Time to wait for the target frame to become available.
Returns
geometry_msgs.msg.TransformStampedThe transform between the frames.
def lookup_transform_full(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout=rospy.Duration(0.0)):

Get the transform from the source frame to the target frame using the advanced API.

Parameters
target_frameName of the frame to transform into.
target_timeThe time to transform to. (0 will get the latest)
source_frameName of the input frame.
source_timeThe time at which source_frame will be evaluated. (0 will get the latest)
fixed_frameName of the frame to consider constant in time.
timeout(Optional) Time to wait for the target frame to become available.
Returns
geometry_msgs.msg.TransformStampedThe transform between the frames.
CAN_TRANSFORM_POLLING_SCALE =

Undocumented

def __get_frames(self, req):

Undocumented