Revision history [back]

It seems like they forgot to update the documentation when porting from tf to tf2_ros, and hence the confusing docs.

You should trust the function signature, tf2_ros::Buffer *tf over the documentation. You cannot convert a tf2_ros::TransformListener to a tf2_ros::Buffer.

A reference to an existing tf2_ros::Buffer is passed as an argument to the constructor of tf2_ros::TransformListener. That same tf2_ros::Buffer is what you have to pass to base_local_planner::TrajectoryPlannerROS::initialize() as an argument.

There seems to be no way of obtaining a reference to the buffer from the transformListener.

So, if you've constructed tf_ locally, then you'll have access to the buffer that you used in constructing it already. If you've passed tf_ in as a reference, consider passing the buffer in as a reference and use it to call initialize.