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Is there any danger to using the same tf2_ros buffer across different message queues?

asked 2019-06-20 17:06:39 -0500

seanarm gravatar image

That's the short of it. I have a ROS node with 4 different message queues that service callbacks for 4 separate classes. I'm wondering if I can safely provide the same tf2_ros::Buffer reference to all four of those classes, for use with transforming sensor_msgs and geometry_msgs messages between coordinate frames.

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answered 2019-06-21 07:05:32 -0500

tfoote gravatar image

Yes, you can do that. The API is thread safe.

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Asked: 2019-06-20 17:06:39 -0500

Seen: 19 times

Last updated: Jun 21