Crate transforms_io 

ROS2 TF2 IO layer using the transforms crate.

This crate provides message handling for the middleware-independent transforms crate. It supports multiple backends:

• r2r - Rust bindings to ROS2 C libraries
• ros2-client - Pure Rust ROS2 client
• mt-pubsub - Minot pub/sub system

Example

use transforms_io::TfListener;

// Create listener (backend-specific)
let listener = TfListener::new(&mut node);

// Lookup transform
let tf = listener.lookup_transform("base_link", "sensor", time)?;

Re-exports

pub use error::TfError;

Modules

convert

Conversion utilities for ROS messages.

error

TF error types.

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

Represents a 3D transformation with translation, rotation, and timestamp.

Vector3

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

Constants

DEFAULT_BUFFER_DURATION_SECS

Default buffer duration for TF listeners (10 seconds). This matches the default used by ROS2 tf2.