Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

tf2_ros transform_broadcaster with node component

asked 2019-08-22 16:09:15 -0600

zipp39
1 ●8 ●10 ●8

updated 2019-08-22 19:39:14 -0600

Geoff

4203 ●18 ●103 ●63

OS: WIndows 10 ROS 2 Version: Dashing

HI! I am trying to use tf2_ros/transform_broadcaster with a Node Component. My class is inherited from node, and when I call this from within the class, it returns an rclcpp:node_interfaces::NodeTopicsInterface *.

So, I am passing in this to the constructor, which is a template that takes in a NodeT Object.

I am getting a compilation error, that there is no conversion for NodeT to my class.

Why wouldn't this work?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2019-08-22 16:36:13 -0600

alsora
1322 ●45 ●83 ●76 https://github.com/alsora

You should definitely add a code snippet...

However, if I'm correctly understanding you have a problem with the following code:

class MyNode : public rclcpp::Node
{
    MyNode() : Node("my_node")
    {
        auto broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(this);
    }
};

If that is the case, a fix has been recently merged to master. https://github.com/ros2/rclcpp/pull/8...

Build the ROS2 master instead of Dashing in order to use it.

edit flag offensive delete link

Comments

Thank you very much! I used a workaround for now where I used the created a sub node and passed that in.

Would this change be pushed in a patch release? Or is the only way to update the code to the newest changes to build ROS 2 from master.

zipp39 ( 2019-08-22 17:08:01 -0600 )edit

add a comment

Question Tools

2 followers

Stats

Asked: 2019-08-22 16:09:15 -0600

Seen: 261 times

Last updated: Aug 22 '19

tf2_ros transform_broadcaster with node component edit

1 Answer

Comments

Question Tools

Stats

Related questions

tf2_ros transform_broadcaster with node component