Finding buffered frames in tf2_ros::Buffer (c++)
I am creating a post-processing utility where I read all the transforms from a .bag file into a tf2_ros::Buffer.
I would like to be able to ask the Buffer for all the frames it has cached. I don't see any public member functions in the doccumentation that allow you to view cached frames.
What is the best way to access cached all the frames in a tf2_ros::Buffer?
I don't believe there is any support for that, but let's see if someone proves me wrong.
Edit: appears there are
BufferCore::allFramesAsYAML()andBufferCore::_getFrameStrings(..). Would those suffice for what you are doing?BufferCore::allFramesAsYAML()will probably do the trick. I will report my findings after I do some more testing.