Crate roslibrust_transforms 

A tf2-like transform library for roslibrust.

This crate provides a TransformManager that subscribes to /tf and /tf_static topics, maintains a transform buffer using the transforms crate, and can publish transforms.

Features

• Generic over roslibrust backends (ros1, rosbridge, zenoh, mock)
• Supports both ROS1 and ROS2 message formats
• Automatic subscription to /tf and /tf_static topics
• Ability to publish transforms via add_transform()

ROS1 vs ROS2

The TransformManager is generic over the message type. Use the appropriate type alias for your ROS version:

• ROS1: TransformManager::<Ros1TFMessage, _>::new(&ros, buffer_duration)
• ROS2: TransformManager::<Ros2TFMessage, _>::new(&ros, buffer_duration)

Example

use roslibrust_transforms::{Quaternion, Ros1TFMessage, Stamp, Timestamp, Transform, TransformManager, Vector3};
use roslibrust::traits::Ros;

// Generic over any roslibrust backend
async fn example<T: Ros>(ros: T)
{
    let manager = TransformManager::<Ros1TFMessage, _>::new(&ros, std::time::Duration::from_secs(10)).await.unwrap();

    // Look up a transform
    let transform = manager.get_transform("base_link", "camera_link", Timestamp::now()).await.unwrap();

    // Build an updated transform from its components
    let updated = Transform::new(
        transform.parent(),
        transform.child(),
        transform.translation() + Vector3::new(1.0, 0.0, 0.0),
        transform.rotation(),
        Stamp::At(Timestamp::now()),
    )
    .unwrap();

    // Update the value in the buffer, and publish it's update to other nodes
    manager.add_transform(updated).await.unwrap();
}

Modules

messages

Message type definitions for tf2_msgs.

Structs

Quaternion

A quaternion representing a rotation in 3D space.

Registry

A registry for managing transforms between different frames. It can traverse the parent-child tree and calculate the final transform. It will interpolate between two entries if a time is requested that lies in between.

Timestamp

Default concrete time type used by this crate.

Transform

Where a child frame sits inside its parent frame, and when that holds.

TransformManager

A manager that subscribes to /tf and /tf_static topics, maintains a transform buffer, and can publish transforms.

Vector3

A 3D vector with x, y, and z components.

Enums

Stamp

When a transform is valid: at one instant, or for all time.

TimeError

Error type for timestamp and time-point operations.

TransformError

Error type for building, composing, interpolating, and applying transforms.

TransformManagerError

Error types for TransformManager operations.

Traits

FromTransform

Trait for converting a transforms::Transform to a TransformStamped message.

IntoTransform

Trait for converting a TransformStamped message to a transforms::Transform.

RosTimestamp

Conversion between ROS header timestamps and transform timestamps.

TFMessageType

Trait for TFMessage types that contain a list of TransformStamped messages.

TimePoint

Trait describing time-point behavior required by the transform core.

Type Aliases

Ros1TFMessage

ROS1 TFMessage type alias for convenience.

Ros1TransformStamped

ROS1 TransformStamped type alias for convenience.

Ros2TFMessage

ROS2 TFMessage type alias for convenience.

Ros2TransformStamped

ROS2 TransformStamped type alias for convenience.