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Deprecate tf2_sensor_msgs.h (#416)
Switch to tf2_sensor_msgs.hpp instead. Signed-off-by: Chris Lalancette <[email protected]>
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‎tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.h‎

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#ifndef TF2_SENSOR_MSGS_H
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#define TF2_SENSOR_MSGS_H
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#include <tf2/convert.h>
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#include <tf2/time.h>
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#include <sensor_msgs/msg/point_cloud2.hpp>
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#include <sensor_msgs/point_cloud2_iterator.hpp>
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#include <Eigen/Eigen>
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#include <Eigen/Geometry>
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#include <tf2_ros/buffer_interface.h>
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#warning This header is obsolete, please include tf2_sensor_msgs/tf2_sensor_msgs.hpp instead
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namespace tf2
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{
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/********************/
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/** PointCloud2 **/
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/********************/
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// method to extract timestamp from object
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template <>
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inline
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tf2::TimePoint getTimestamp(const sensor_msgs::msg::PointCloud2& p) {return tf2_ros::fromMsg(p.header.stamp);}
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// method to extract frame id from object
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template <>
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inline
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std::string getFrameId(const sensor_msgs::msg::PointCloud2 &p) {return p.header.frame_id;}
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// this method needs to be implemented by client library developers
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template <>
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inline
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void doTransform(const sensor_msgs::msg::PointCloud2 &p_in, sensor_msgs::msg::PointCloud2 &p_out, const geometry_msgs::msg::TransformStamped& t_in)
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{
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p_out = p_in;
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p_out.header = t_in.header;
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Eigen::Transform<float,3,Eigen::Affine> t = Eigen::Translation3f(t_in.transform.translation.x, t_in.transform.translation.y,
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t_in.transform.translation.z) * Eigen::Quaternion<float>(
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t_in.transform.rotation.w, t_in.transform.rotation.x,
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t_in.transform.rotation.y, t_in.transform.rotation.z);
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sensor_msgs::PointCloud2ConstIterator<float> x_in(p_in, std::string("x"));
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sensor_msgs::PointCloud2ConstIterator<float> y_in(p_in, std::string("y"));
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sensor_msgs::PointCloud2ConstIterator<float> z_in(p_in, std::string("z"));
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sensor_msgs::PointCloud2Iterator<float> x_out(p_out, std::string("x"));
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sensor_msgs::PointCloud2Iterator<float> y_out(p_out, std::string("y"));
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sensor_msgs::PointCloud2Iterator<float> z_out(p_out, std::string("z"));
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Eigen::Vector3f point;
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for(; x_in != x_in.end(); ++x_in, ++y_in, ++z_in, ++x_out, ++y_out, ++z_out) {
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point = t * Eigen::Vector3f(*x_in, *y_in, *z_in);
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*x_out = point.x();
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*y_out = point.y();
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*z_out = point.z();
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}
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}
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inline
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sensor_msgs::msg::PointCloud2 toMsg(const sensor_msgs::msg::PointCloud2 &in)
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{
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return in;
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}
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inline
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void fromMsg(const sensor_msgs::msg::PointCloud2 &msg, sensor_msgs::msg::PointCloud2 &out)
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{
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out = msg;
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}
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} // namespace
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#include <tf2_sensor_msgs/tf2_sensor_msgs.hpp>
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#endif // TF2_SENSOR_MSGS_H

‎tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp‎

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/*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef TF2_SENSOR_MSGS_HPP
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#define TF2_SENSOR_MSGS_HPP
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#include <tf2/convert.h>
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#include <tf2/time.h>
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#include <sensor_msgs/msg/point_cloud2.hpp>
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#include <sensor_msgs/point_cloud2_iterator.hpp>
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#include <Eigen/Eigen>
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#include <Eigen/Geometry>
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#include <tf2_ros/buffer_interface.h>
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namespace tf2
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{
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/********************/
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/** PointCloud2 **/
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/********************/
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// method to extract timestamp from object
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template <>
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inline
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tf2::TimePoint getTimestamp(const sensor_msgs::msg::PointCloud2& p) {return tf2_ros::fromMsg(p.header.stamp);}
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// method to extract frame id from object
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template <>
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inline
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std::string getFrameId(const sensor_msgs::msg::PointCloud2 &p) {return p.header.frame_id;}
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// this method needs to be implemented by client library developers
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template <>
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inline
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void doTransform(const sensor_msgs::msg::PointCloud2 &p_in, sensor_msgs::msg::PointCloud2 &p_out, const geometry_msgs::msg::TransformStamped& t_in)
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{
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p_out = p_in;
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p_out.header = t_in.header;
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Eigen::Transform<float,3,Eigen::Affine> t = Eigen::Translation3f(t_in.transform.translation.x, t_in.transform.translation.y,
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t_in.transform.translation.z) * Eigen::Quaternion<float>(
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t_in.transform.rotation.w, t_in.transform.rotation.x,
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t_in.transform.rotation.y, t_in.transform.rotation.z);
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sensor_msgs::PointCloud2ConstIterator<float> x_in(p_in, std::string("x"));
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sensor_msgs::PointCloud2ConstIterator<float> y_in(p_in, std::string("y"));
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sensor_msgs::PointCloud2ConstIterator<float> z_in(p_in, std::string("z"));
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sensor_msgs::PointCloud2Iterator<float> x_out(p_out, std::string("x"));
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sensor_msgs::PointCloud2Iterator<float> y_out(p_out, std::string("y"));
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sensor_msgs::PointCloud2Iterator<float> z_out(p_out, std::string("z"));
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Eigen::Vector3f point;
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for(; x_in != x_in.end(); ++x_in, ++y_in, ++z_in, ++x_out, ++y_out, ++z_out) {
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point = t * Eigen::Vector3f(*x_in, *y_in, *z_in);
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*x_out = point.x();
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*y_out = point.y();
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*z_out = point.z();
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}
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}
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inline
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sensor_msgs::msg::PointCloud2 toMsg(const sensor_msgs::msg::PointCloud2 &in)
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{
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return in;
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}
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inline
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void fromMsg(const sensor_msgs::msg::PointCloud2 &msg, sensor_msgs::msg::PointCloud2 &out)
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{
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out = msg;
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}
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} // namespace
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#endif // TF2_SENSOR_MSGS_HPP

‎tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp‎

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*/
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#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
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#include <tf2_sensor_msgs/tf2_sensor_msgs.hpp>
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#include <geometry_msgs/PoseStamped.h>
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#include <tf2_ros/transform_listener.h>
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#include <ros/ros.h>

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