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The tf2_ros
interface, which pre-dates lifecycle nodes and the node interfaces in rclcpp
, would need to be updated to take the "node interfaces" that it uses, which are the common element between Node
and LifecycleNode
. For example, maybe it should instead take a pointer to rclcpp::node_interfaces::NodeTopicsInterface
and a pointer to an instance of rclcpp::node_interfaces::NodeParametersInterface
instead of a pointer to a node.
A separate question is whether or not tf2_ros
should create lifecycle topics or normal topics (should it work only in certain lifecycle states or always)?
I'd recommend opening an issue on the ros2/geometry2
issue tracker (https://github.com/ros2/geometry2/issues) asking about this. I'm not sure if anyone will have time to implement this for you, but if you're interesting in contributing this feature for tf2 that would probably be a quicker way to get a solution for this.