Fixed bag_to_pcd processing of static transforms#375
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peci1 wants to merge 1 commit intoros-perception:melodic-develfrom
Open
Fixed bag_to_pcd processing of static transforms#375peci1 wants to merge 1 commit intoros-perception:melodic-develfrom
peci1 wants to merge 1 commit intoros-perception:melodic-develfrom
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Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
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bag_to_pcd usage of TF interface was obsolete, so it needed a ROS master running and filled TF buffer by publishing transforms via a
tf::TransformPublisher. More importantly, it did not correctly handle static TFs, which resulted in inability to resolve static frames.This PR rewrites the code to use
tf2_ros::Bufferwhich does not require a running ROS master and it also adds correct handling of static frames (as long as they are found on topics ending with_static).I only did not understand why
rosbag inforeports for my bags that/tftopic is of typetf2_msgs/TFMessage, while the code branch taken is the one fortf::tfMessage. Maybe it's some kind of automatic conversion from TF1 to TF2 that takes place here.