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Add configurable TF topics to view_frames #709

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merged 1 commit into from
Oct 15, 2024
Merged

Add configurable TF topics to view_frames #709

merged 1 commit into from
Oct 15, 2024

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Ryanf55
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@Ryanf55 Ryanf55 commented Sep 14, 2024 •
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Here's the python implementation of #708. It's a convenience over the following for those who don't understand remaps.

ros2 run tf2_tools view_frames --ros-args -r tf:=foo -r tf_static:=bar

help text

$ ros2 run tf2_tools view_frames -h
usage: view_frames [-h] [--wait-time WAIT_TIME] [-o OUTPUT] [--tf_topic TF_TOPIC] [--tf_static_topic TF_STATIC_TOPIC]

Create a diagram of the TF frames being broadcast over ROS

options:
  -h, --help            show this help message and exit
  --wait-time WAIT_TIME, -t WAIT_TIME
                        Listen to the /tf topic for this many seconds before rendering the frame tree
  -o OUTPUT, --output OUTPUT
                        Output filename
  --tf_topic TF_TOPIC   Topic for dynamic transforms
  --tf_static_topic TF_STATIC_TOPIC
                        Topic for static transforms

Run the node

$ ros2 run tf2_tools view_frames --tf_topic=/foo  --tf_static_topic=bar
[INFO] [1726288349.673591679] [view_frames]: Listening to tf data for 5.0 seconds...
[INFO] [1726288354.694076715] [view_frames]: Generating graph...
[INFO] [1726288354.694984295] [view_frames]: Result:tf2_msgs.srv.FrameGraph_Response(frame_yaml='[]')
[INFO] [1726288354.695316110] [view_frames]: Exporting graph in frames_2024-09-13_22.32.34.pdf file...

Get it's node info while running to prove the topics are different

$ ros2 node info /view_frames 
/view_frames
  Subscribers:
    /bar: tf2_msgs/msg/TFMessage
    /foo: tf2_msgs/msg/TFMessage
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /tf2_frames: tf2_msgs/srv/FrameGraph
    /view_frames/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /view_frames/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /view_frames/get_parameters: rcl_interfaces/srv/GetParameters
    /view_frames/list_parameters: rcl_interfaces/srv/ListParameters
    /view_frames/set_parameters: rcl_interfaces/srv/SetParameters
    /view_frames/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:
    /tf2_frames: tf2_msgs/srv/FrameGraph
  Action Servers:

  Action Clients:

Ryanf55
Ryanf55 commented Sep 14, 2024
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tf2_tools/tf2_tools/view_frames.py
@@ -50,12 +51,19 @@ def main():
'--wait-time', '-t', type=float, default=5.0,
help='Listen to the /tf topic for this many seconds before rendering the frame tree')
parser.add_argument('-o', '--output', help='Output filename')
parser.add_argument('--tf_topic', help='Topic for dynamic transforms',
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Could also be tf_dynamic_topic. Open to either given the help text next to it says dynamic

@Ryanf55 Ryanf55 force-pushed the 708-expose-configurable-tf-topics branch from 27b84b6 to 45f3f30 Compare September 14, 2024 05:45
ahcorde
ahcorde requested changes Sep 23, 2024
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do you mind to add some documentation here cli_tools.rst? Adding some notes about these new options ?

@fujitatomoya
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@Ryanf55 friendly ping, more information needed.

@ahcorde
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ahcorde commented Oct 14, 2024

@Ryanf55 friendly ping

@Ryanf55
Add configurable TF topics
4d30e24 
* Set defaults in transform lister and expose them as args to the
  TransformLister
* Add CLI args in view_frames to change /tf and /tf_static topics

Signed-off-by: Ryan Friedman <[email protected]>
@Ryanf55 Ryanf55 force-pushed the 708-expose-configurable-tf-topics branch from 45f3f30 to 4d30e24 Compare October 15, 2024 04:25
@Ryanf55
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Ryanf55 commented Oct 15, 2024

do you mind to add some documentation here cli_tools.rst? Adding some notes about these new options ?

Done! Sorry for the delay.

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ahcorde commented Oct 15, 2024

Pulls: #709
Gist: https://gist.githubusercontent.com/ahcorde/197c9a03ab960f3f45525653ab8e9ecf/raw/0e039e4045cb19543984c0af18ddfe60a81d7c68/ros2.repos
BUILD args: --packages-above-and-dependencies tf2_ros tf2_ros_py tf2_tools --packages-above-and-dependencies tf2_ros tf2_ros_py tf2_tools
TEST args: --packages-above tf2_ros tf2_ros_py tf2_tools --packages-above tf2_ros tf2_ros_py tf2_tools
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14703

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@ahcorde ahcorde merged commit 5911417 into ros2:rolling Oct 15, 2024
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@ahcorde ahcorde ahcorde requested changes

@clalancette clalancette Awaiting requested review from clalancette

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@Ryanf55 @fujitatomoya @ahcorde