New approach for the tf2::toMsg() hassle #491
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The conversion is moved into the `ImplDetails` struct to avoid link-time errors. As the return value of `toMsg()` can't be deduced, a default value depending on the first argument will be chosen from the `defaultMessage` struct.
This was referenced Dec 11, 2020
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@tfoote friendly ping |
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Thanks for this. It's going to take me a bit to review this fully. As this will break ABI as a core module we generally won't want to roll it out into an active rosdistro for something quite this core without a significant problem. Would it make sense to target this for ROS 2 rolling instead of noetic. If we get it into rolling soon we can also shoot to get it into the upcoming Galactic release. |
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Okay, thanks. I'm currently porting this to ROS2, see ros2/geometry2#368. |
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I guess this ROS 1 PR can be closed. |
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This is something that we definitely can't change in ROS 1 distributions. I'm going to close this and point to the open PR on the ROS 2 repo: ros2/geometry2#427 for further discussion. |
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The second template parameter of
tf2::toMsg()now has a default value,which is resolved to a ROS message type depending on the non-message datatype.
This allows the deduction of the return value type.
Furthermore,
toMsg(),fromMsg(),getTimestamp()andgetFrameId()now have a default implementation,which forwards the calls into structs defined in the impl namespace. Now missing implementations of conversion methods result in compile-time errors, they do not occur during link-time anymore.
A lot of effort was put into the automatic conversion of dataypes with a stamp (
tf2::Stamped<T>and the ...Stamped ROS messages) to avoid code duplication. The stamped types now use the conversion methods of the unstamped types and copy the timestamp/frame id informations.This PR should remain API compatibility, but the ABI will break (as the non-templated functions like
toMsg()are removed).Further TODO's:
@seanyen may I ask you to test whether this approach works on Windows?
Related Issues:
#430
moveit/moveit#1785