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MessageFilter Generalizated Nodes #661

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MessageFilter Generalizated Nodes #661

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e6acf76
Use templated Node
CursedRock17 Mar 11, 2024
f6d163a
Using node_interfaces functions
CursedRock17 Mar 15, 2024
659b232
Revert "Fix installation directory of .dll files in tf2_eigen_kdl (#6…
CursedRock17 Apr 19, 2024
439aa68
Revert "Revert "Fix installation directory of .dll files in tf2_eigen…
CursedRock17 Apr 19, 2024
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22 changes: 14 additions & 8 deletions tf2_ros/include/tf2_ros/message_filter.h
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,8 @@
#include "message_filters/connection.h"
#include "message_filters/message_traits.h"
#include "message_filters/simple_filter.h"
#include "rclcpp/node_interfaces/get_node_logging_interface.hpp"
#include "rclcpp/node_interfaces/get_node_clock_interface.hpp"
#include "tf2/buffer_core_interface.h"
#include "tf2/time.h"
#include "tf2_ros/async_buffer_interface.h"
Expand Down Expand Up @@ -161,15 +163,17 @@ class MessageFilter : public MessageFilterBase, public message_filters::SimpleFi
* \param node The ros2 node to use for logging and clock operations
* \param buffer_timeout The timeout duration after requesting transforms from the buffer.
*/
template<typename TimeRepT = int64_t, typename TimeT = std::nano>
template<typename NodeT = rclcpp::Node::SharedPtr,
typename TimeRepT = int64_t, typename TimeT = std::nano>
MessageFilter(
BufferT & buffer, const std::string & target_frame, uint32_t queue_size,
const rclcpp::Node::SharedPtr & node,
NodeT && node,
std::chrono::duration<TimeRepT, TimeT> buffer_timeout =
std::chrono::duration<TimeRepT, TimeT>::max())
: MessageFilter(
buffer, target_frame, queue_size, node->get_node_logging_interface(),
node->get_node_clock_interface(), buffer_timeout)
buffer, target_frame, queue_size,
rclcpp::node_interfaces::get_node_logging_interface(node),
rclcpp::node_interfaces::get_node_clock_interface(node), buffer_timeout)
{
static_assert(
std::is_base_of<tf2::BufferCoreInterface, BufferT>::value,
Expand Down Expand Up @@ -216,15 +220,17 @@ class MessageFilter : public MessageFilterBase, public message_filters::SimpleFi
* \param node The ros2 node to use for logging and clock operations
* \param buffer_timeout The timeout duration after requesting transforms from the buffer.
*/
template<class F, typename TimeRepT = int64_t, typename TimeT = std::nano>
template<class F, typename NodeT = rclcpp::Node::SharedPtr,
typename TimeRepT = int64_t, typename TimeT = std::nano>
MessageFilter(
F & f, BufferT & buffer, const std::string & target_frame, uint32_t queue_size,
const rclcpp::Node::SharedPtr & node,
NodeT && node,
std::chrono::duration<TimeRepT, TimeT> buffer_timeout =
std::chrono::duration<TimeRepT, TimeT>::max())
: MessageFilter(
f, buffer, target_frame, queue_size, node->get_node_logging_interface(),
node->get_node_clock_interface(), buffer_timeout)
f, buffer, target_frame, queue_size,
rclcpp::node_interfaces::get_node_logging_interface(node),
rclcpp::node_interfaces::get_node_clock_interface(node), buffer_timeout)
{
}

Expand Down