roslibrust_transforms

A tf2-like transform library for roslibrust, providing TransformListener and TransformBroadcaster functionality. Provides a convenient wrapper around the transforms crate to provide a roslibrust specific API for working with transforms in a ROS environment.

Features

• Backend agnostic — Works with all roslibrust backends (ros1, rosbridge, zenoh, mock)
• ROS1 & ROS2 support — Ships with message schemas for both ROS1 and ROS2, and can be mixed and matched with roslibrust backends.
• Buffered Time Travel — Leverages the transforms to store a history of transforms and perform time-based lookups between moving frames in time.

Usage

Add to your Cargo.toml:

[dependencies]
roslibrust_transforms = "0.1"

Basic Example

use roslibrust_transforms::{TransformManager, Ros1TFMessage};

async fn example(ros: impl roslibrust_common::TopicProvider + Clone + Send + Sync + 'static) {
    // Create a TransformManager (subscribes to /tf and /tf_static automatically)
    let manager = TransformManager::<Ros1TFMessage, _>::new(&ros).await.unwrap();

    // Look up a transform
    let transform = manager.lookup_latest_transform("base_link", "camera_link").await.unwrap();

    println!("Translation: {:?}", transform.translation);
    println!("Rotation: {:?}", transform.rotation);
}

ROS1 vs ROS2

The only difference is the message type parameter:

// ROS1
let manager = TransformManager::<Ros1TFMessage, _>::new(&ros).await?;

// ROS2
let manager = TransformManager::<Ros2TFMessage, _>::new(&ros).await?;

Publishing Transforms

use roslibrust_transforms::{TransformManager, Ros1TFMessage, Transform, Timestamp};

async fn broadcast_example(ros: impl roslibrust_common::TopicProvider + Clone + Send + Sync + 'static) {
    let manager = TransformManager::<Ros1TFMessage, _>::new(&ros).await.unwrap();

    // Create and publish a dynamic transform
    let transform = Transform {
        parent_frame: "world".to_string(),
        child_frame: "robot".to_string(),
        translation: Default::default(),
        rotation: Default::default(),
        timestamp: Timestamp::now(),
    };
    manager.update_transform(transform).await.unwrap();

    // Or publish a static transform
    let static_tf = Transform {
        parent_frame: "robot".to_string(),
        child_frame: "sensor".to_string(),
        translation: Default::default(),
        rotation: Default::default(),
        timestamp: Timestamp::now(), // Will be set to zero internally
    };
    manager.update_static_transform(static_tf).await.unwrap();
}