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Port to ROS 2 (#35)
* init conversion Signed-off-by: Paul Gesel <paulgesel@gmail.com> * refactor msgs to new package Signed-off-by: Paul Gesel <paulgesel@gmail.com> * continue action server impl Signed-off-by: Paul Gesel <paulgesel@gmail.com> * fix message name + base action server compiles Signed-off-by: Paul Gesel <paulgesel@gmail.com> * use rosidl_default_generators is find_package or else python interfaces are not generated Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> * simplify action server * remove unused code Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> * remove ROS 1 test Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> * fix install Signed-off-by: Paul Gesel <paulgesel@gmail.com> * add include directory Signed-off-by: Paul Gesel <paulgesel@gmail.com> * add and run pre-commit Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> * add test file Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> * test action server Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> * add workflow file Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> * sort headers, update maintainer/authors Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> * Update tf2_web_republisher/CMakeLists.txt Co-authored-by: Błażej Sowa <bsowa123@gmail.com> * Update tf2_web_republisher/src/tf2_web_republisher.cpp Co-authored-by: Błażej Sowa <bsowa123@gmail.com> * Update tf2_web_republisher/src/tf2_web_republisher.cpp Co-authored-by: Błażej Sowa <bsowa123@gmail.com> * Update tf2_web_republisher/include/tf_web_republisher/tf2_web_republisher.hpp Co-authored-by: Błażej Sowa <bsowa123@gmail.com> * Update tf2_web_republisher/CMakeLists.txt Co-authored-by: Błażej Sowa <bsowa123@gmail.com> * Use newer .hpp headers instead of deprecated .h headers * Change include directory name * Use target_link_libraries instead of ament_target_dependencies * Rename _msgs package to _interfaces * Simplify interfaces package dependencies * Remove .gitkeep file * Simplify package dependencies * Register node as rclcpp component * Use snake_case for all member functions * Don't call member function with this-> * Use class logger * Add ci workflow * Fix inconsistent place of return type * Add license header * Add ament_cmake_gmock to test dependencies * Use .h headers for tf2_ros * Move service definition to standard directory srv * Build shared library * Use rclcpp::Rate * Reject goals which cannot be handled * Add missing LICENSE content * Add ROS2 port section in AUTHORS.md * Add authors to code source * Add docstrings for member functions * Add type aliases for ROS interfaces * Add XML schema * Update maintainer and author tags * Remove pre-commit files * Move README, AUTHORS and LICENSE to top-level directory * Update README * Fix trailing whitespace in maintainer email * Remove ROS wiki reference * Restore github workflow Accidentally removed it with an earlier commit. --------- Signed-off-by: Paul Gesel <paulgesel@gmail.com> Signed-off-by: Paul Gesel <paul.gesel@picknik.ai> Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
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‎.github/workflows/ci.yml‎

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name: CI
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on: [push, pull_request, workflow_dispatch]
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jobs:
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test:
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strategy:
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fail-fast: false
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matrix:
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include:
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- ros: humble
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os: ubuntu-22.04
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- ros: jazzy
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os: ubuntu-24.04
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- ros: kilted
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os: ubuntu-24.04
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- ros: rolling
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os: ubuntu-24.04
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name: ROS 2 ${{ matrix.ros }} (${{ matrix.os }})
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runs-on: ${{ matrix.os }}
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steps:
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- uses: actions/checkout@v4
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with:
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path: ros_ws/src
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- uses: ros-tooling/setup-ros@v0.7
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- uses: ros-tooling/action-ros-ci@v0.4
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with:
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target-ros2-distro: ${{ matrix.ros }}

‎.gitignore‎

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‎.travis.yml‎

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‎AUTHORS.md‎

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Original Authors
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----------------
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* [Julius Kammerl](http://www.kammerl.de) (jkammerl@willowgarage.com)
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* Julius Kammerl (jkammerl@willowgarage.com)
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Contributors
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------------
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* [Russell Toris](http://users.wpi.edu/~rctoris/) (rctoris@wpi.edu)
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* [William Woodall](http://wjwwood.github.com) (wjwwood@gmail.com)
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* Russell Toris (rctoris@wpi.edu)
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* William Woodall (wjwwood@gmail.com)
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ROS 2 Port
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----------
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* Paul Gesel (paul.gesel@picknik.ai)
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* Błażej Sowa (blazej@fictionlab.pl)

‎CHANGELOG.rst‎

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‎CMakeLists.txt‎

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‎README.md‎

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tf2_web_republisher [![Build Status](https://api.travis-ci.org/RobotWebTools/tf2_web_republisher.png)](https://travis-ci.org/RobotWebTools/tf2_web_republisher)
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tf2_web_republisher
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===================
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**Status**: This project is not maintained (see [#34](https://github.com/RobotWebTools/tf2_web_republisher/issues/34))
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The tf2_web_republisher package can be used to throttle and precompute [tf transform] information to be sent via the [rosbridge_suite] to a [ros3djs] web client. The tf2_web_republisher is developed as part of the Robot Web Tools effort.
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#### Republishing of Selected TFs
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For full documentation, see [the ROS wiki](http://ros.org/wiki/tf2_web_republisher).
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## Action interface
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The ROS node starts a [ROS action](https://docs.ros.org/en/rolling/Concepts/About-Actionlib.html) server that allows clients to request transforms for a set of source frames relative to a target frame. The action server will compute the transforms at a specified rate and return them as feedback.
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[Doxygen](http://docs.ros.org/indigo/api/tf2_web_republisher/html/) files can be found on the ROS wiki.
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```
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# goal
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string[] source_frames
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string target_frame
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float32 angular_thres
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float32 trans_thres
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float32 rate
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---
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# result
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---
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# feedback
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geometry_msgs/TransformStamped[] transforms
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```
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This project is released as part of the [Robot Web Tools](http://robotwebtools.org/) effort.
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- `source_frames` - list of source TF frames to be transformed
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- `target_frame` - target TF frame to which the source frames are transformed
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- `angular_thres` - update threshold for angular changes in radians
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- `trans_thres` - update threshold for translational changes in meters
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- `rate` - maximum update rate of geometry_msgs/msg/TransformStamped messages on the feedback channel. Each feedback message contains a stamped transform for each specified source_frame.
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### License
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## License
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tf2_web_republisher is released with a BSD license. For full terms and conditions, see the [LICENSE](LICENSE) file.
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### Authors
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## Authors
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See the [AUTHORS](AUTHORS.md) file for a full list of contributors.
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[tf transform]: https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Tf2.html#tf2
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[rosbridge_suite]: https://github.com/RobotWebTools/rosbridge_suite
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[ros3djs]: https://github.com/RobotWebTools/ros3djs

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