RTTFBuffer.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// licensed under the GNU General Public License v3.0.
// See <http://www.gnu.org/licenses/> for details.
//
// Easy Navigation program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 
#ifndef EASYNAV_COMMON_TYPES__RTTFBUFFER_HPP_
#define EASYNAV_COMMON_TYPES__RTTFBUFFER_HPP_
 
#include "easynav_common/Singleton.hpp"
#include "easynav_common/types/TFInfo.hpp"
 
#include "tf2_ros/buffer.hpp"
 
namespace easynav
{

class RTTFBuffer : public tf2_ros::Buffer, public Singleton<RTTFBuffer>
{
public:
  explicit RTTFBuffer(const rclcpp::Clock::SharedPtr & clock)
  : tf2_ros::Buffer(clock)
  {}
 
  explicit RTTFBuffer()
  : Buffer(std::make_shared<rclcpp::Clock>(RCL_ROS_TIME))
  {
    RCLCPP_WARN(rclcpp::get_logger("RTTFBuffer"),
      "You should be creating this RTTFBuffer with your clock."
      "Using default clock RCL_ROS_TIME");
  }
 
  const TFInfo & get_tf_info() const
  {
    return tf_info_;
  }
 
  void set_tf_info(const TFInfo & tf_info)
  {
    tf_info_ = tf_info;
 
    // Apply tf_prefix to all frames
    if (tf_info_.tf_prefix != "") {
      tf_info_.map_frame = tf_info_.tf_prefix + "/" + tf_info_.map_frame;
      tf_info_.odom_frame = tf_info_.tf_prefix + "/" + tf_info_.odom_frame;
      tf_info_.robot_frame = tf_info_.tf_prefix + "/" + tf_info_.robot_frame;
      tf_info_.robot_footprint_frame = tf_info_.tf_prefix + "/" + tf_info_.robot_footprint_frame;
      tf_info_.world_frame = tf_info_.tf_prefix + "/" + tf_info_.world_frame;
    }
  }
 
private:
  TFInfo tf_info_;
 
  SINGLETON_DEFINITIONS(RTTFBuffer)
};
 
}  // namespace easynav
 
 
#endif  // EASYNAV_COMMON_TYPES__RTTFBUFFER_HPP_