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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?

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

alsora
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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.

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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

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

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Last updated: Aug 22 '19

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tf2_ros transform_broadcaster with node component