Skip to content

feat(pitch_checker): replace autoware_universe_utils with autoware_utils_tf #404

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
vish0012 wants to merge 1 commit into
base: main
Choose a base branch
from
Open

feat(pitch_checker): replace autoware_universe_utils with autoware_utils_tf #404

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions vehicle/pitch_checker/include/pitch_checker/pitch_checker.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@
#else
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#endif
#include "autoware/universe_utils/ros/transform_listener.hpp"
#include <autoware_utils_tf/transform_listener.hpp>

struct TfInfo
{
Expand All @@ -52,7 +52,7 @@ class PitchChecker : public rclcpp::Node
explicit PitchChecker(const rclcpp::NodeOptions & node_options);

private:
std::shared_ptr<autoware::universe_utils::TransformListener> transform_listener_;
std::shared_ptr<autoware_utils_tf::TransformListener> transform_listener_;

// Timer
rclcpp::TimerBase::SharedPtr timer_;
Expand Down
2 changes: 1 addition & 1 deletion vehicle/pitch_checker/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@

<build_depend>autoware_cmake</build_depend>

<depend>autoware_universe_utils</depend>
<depend>autoware_utils_tf</depend>
<depend>geometry_msgs</depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
Expand Down
4 changes: 2 additions & 2 deletions vehicle/pitch_checker/src/pitch_checker_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
PitchChecker::PitchChecker(const rclcpp::NodeOptions & node_options)
: Node("pitch_checker", node_options)
{
transform_listener_ = std::make_shared<autoware::universe_utils::TransformListener>(this);
transform_listener_ = std::make_shared<autoware_utils_tf::TransformListener>(this);
using std::placeholders::_1;
using std::placeholders::_2;
using std::placeholders::_3;
Expand Down Expand Up @@ -80,7 +80,7 @@ bool PitchChecker::getTf()
{
geometry_msgs::msg::TransformStamped::ConstSharedPtr transform;
try {
transform = transform_listener_->getTransform(
transform = transform_listener_->get_transform(
"map", "base_link", rclcpp::Time(0), rclcpp::Duration::from_seconds(0.5));
} catch (tf2::TransformException & ex) {
auto & clk = *this->get_clock();
Expand Down
Loading