feat(tf): add ros-z-tf crate with TF2 listener, broadcaster, and buffer#178
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YuanYuYuan wants to merge 12 commits into
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feat(tf): add ros-z-tf crate with TF2 listener, broadcaster, and buffer#178YuanYuYuan wants to merge 12 commits into
YuanYuYuan wants to merge 12 commits into
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Introduces `ros-z-tf`, a pure-Rust TF2 listener and transform buffer that subscribes to `/tf` and `/tf_static`, maintains a frame tree, and provides `lookup_transform` with multi-hop LCA traversal and linear/slerp interpolation. Public API: - `Buffer::new(node)` — subscribes to /tf (Volatile) and /tf_static (TransientLocal) - `Buffer::lookup_transform(target, source, time)` — LCA-based chain composition - `Buffer::can_transform(target, source, time)` — non-panicking availability check - `Buffer::all_frames()` — enumerate known frame IDs - `LookupError` — UnknownFrame, NoCommonAncestor, ExtrapolationError Also adds `tf2_msgs` message definitions to ros-z-codegen assets and extends `GeneratorConfig` with `protobuf_excluded_packages` to handle packages whose cross-package array fields cannot be represented in protobuf (e.g. `geometry_msgs/TransformStamped[]` in TFMessage).
…sform, lookup_transform_full - ros-z core: declare PublicationCache alongside ZPub for TransientLocal publishers; use QueryingSubscriber (FetchingSubscriber) for TransientLocal subscribers so late joiners receive previously published data - ros-z-tf: add TransformBroadcaster (/tf, Volatile) and StaticTransformBroadcaster (/tf_static, TransientLocal) - ros-z-tf: add wait_for_transform (async, notified on each add_message) with WaitError::Timeout and WaitError::Lookup variants - ros-z-tf: add lookup_transform_full for fixed-frame two-time lookups - remove #[ignore] from tf_static_transient_local_replayed_on_connect - 8 integration tests pass, 28 unit tests pass
…rder, optional wait timeout - StaticTransformBroadcaster zeroes all timestamps before publishing (tf2 spec requires sec=0, nanosec=0 on /tf_static for ROS 2 interop) - lookup_transform_full reordered to (target, target_time, source, source_time, fixed_frame) matching tf2 C++ and roslibrust APIs - wait_for_transform now takes Option<Duration>; None falls back to the buffer's default duration (10 s) - Document intentional separation of Buffer and broadcaster types
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…y codegen filter - QosHistory::KeepAll was mapped to usize::MAX for PublicationCache ring buffer capacity, which would OOM on first transient-local publisher; cap at 1000 entries to match tf2 buffer convention - tf-tests feature no longer hardcodes ros-z-tf/jazzy; distro propagation uses '?' syntax so it only activates when the optional dep is enabled - generate_protobuf_types always filters excluded packages via one-liner instead of a split-variable conditional
…t_naming Adds digit→uppercase split so Int8MultiArray→Int8MultiArray and ensures TFMessage→TfMessage matches what prost_build generates.
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Summary
ros-z-tf— pure-Rust TF2 transform listener and buffer for ros-z/tf(Volatile) and/tf_static(TransientLocal) with automatic replay for late-joining subscribersTransformBroadcasterandStaticTransformBroadcasterfor publishing transformswait_for_transformasync wait withOption<Duration>timeout (defaults to 10 s)lookup_transform_fullfor tf2 "time travel" lookups through a fixed frameros-z-tests --features tf-testsKey Changes
crates/ros-z-tf/— new crate withBuffer,TransformBroadcaster,StaticTransformBroadcaster, LCA lookup, slerp/lerp mathcrates/ros-z/src/pubsub.rs— TransientLocal replay viaPublicationCache+FetchingSubscriber(zenoh-ext)crates/ros-z-msgs/— addedtf2_msgsfeature withTFMessagecrates/ros-z-codegen/— excludestf2_msgsfrom protobuf (cross-package array fields unsupported)crates/ros-z-tests/— integration tests undertf-testsfeature flagAPI
Breaking Changes
None — new crate, no changes to existing public APIs.