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Looks that i figured out how to solve the problem by having a look at the source code of tf2_ros: http://docs.ros.org/en/latest/api/tf2_ros/html/c++/transform__listener_8h_source.html

There are two constructors of TransformListener, one of them initialises the node_ momber and the other does not. This means that in the short constructor the member node_ is initialised by the default node constructor.

Which means that I have to run the constructor this way:

tf_listener_ = std::make_shared<tf2_ros::TransformListener>(
     * tf_buffer_ // buffer
     , std::make_shared<Node>("my_listener")       // node
     , true       // spin_thread
     , qos        // quality of services structure
 );

Which is kind of logical, because as the listener is executed as a separate thread, it should be set up as a ROS Node, and so it is the developer's responsibility to specify its name to avoid creating two nodes with duplicate names.

I wish this was explained in the documentation !

I still don't understand how the short constructor of TransformListener works in ROS2, where there is no Node constructor without arguments. Must be a sort of a miracle. May be the binaries for tf2_ros for RoS1 (which contain this argumentless constructor) are implicated ?

Looks that i figured out how to solve the problem by having a look at the source code of tf2_ros: http://docs.ros.org/en/latest/api/tf2_ros/html/c++/transform__listener_8h_source.html

There are two constructors of TransformListener, one of them initialises the node_ momber and the other does not. This means that in the short constructor the member node_ is initialised by the default node constructor.

Which means that I have to run the constructor this way:

tf_listener_ = std::make_shared<tf2_ros::TransformListener>(
     * tf_buffer_ // buffer
     , std::make_shared<Node>("my_listener")       // node
     , true       // spin_thread
     , qos        // quality of services structure
 );

Which is kind of logical, because as the listener is executed as a separate thread, it should be set up as a ROS Node, and so it is the developer's responsibility to specify its name to avoid creating two nodes with duplicate names.

I wish this was explained in the documentation !

I still don't understand how the short constructor of TransformListener works in ROS2, where there is no Node constructor without arguments. Must be a sort of a miracle. May be the binaries for tf2_ros compiled for RoS1 (which a different distribution, which contain this argumentless constructor) constructor, are implicated ?