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Add XML/YAML launch file equivalents to Tf2 tutorials (backport #6031) (#6162)
* Add XML/YAML launch file equivalents to Tf2 tutorials (#6031) Signed-off-by: Luke Sy <[email protected]> (cherry picked from commit 81786ba) Signed-off-by: Alejandro Hernandez Cordero <[email protected]> Co-authored-by: lsy3 <[email protected]> Co-authored-by: Alejandro Hernandez Cordero <[email protected]>
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‎source/Tutorials/Intermediate/Tf2/Adding-A-Frame-Cpp.rst‎

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@@ -184,18 +184,48 @@ Finally, add the ``install(TARGETS…)`` section so ``ros2 run`` can find your e
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~~~~~~~~~~~~~~~~~~~~~~~~~
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Now let's create a launch file for this example.
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With your text editor, create a new file called ``turtle_tf2_fixed_frame_demo.launch.py`` in the ``src/learning_tf2_cpp/launch`` directory, and add the following lines:
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With your text editor, create a new file called ``turtle_tf2_fixed_frame_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``src/learning_tf2_cpp/launch`` directory, and add the following lines:
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.. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.py
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:language: python
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.. tabs::
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.. group-tab:: Python
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.. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.py
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:language: python
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.. group-tab:: XML
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.. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.xml
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:language: xml
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.. group-tab:: YAML
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.. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.yaml
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:language: yaml
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This launch file imports the required packages and then creates a ``demo_nodes`` variable that will store nodes that we created in the previous tutorial's launch file.
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The last part of the code will add our fixed ``carrot1`` frame to the turtlesim world using our ``fixed_frame_tf2_broadcaster`` node.
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.. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.py
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:language: python
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:lines: 14-18
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.. tabs::
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.. group-tab:: Python
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.. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.py
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:language: python
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:lines: 14-18
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.. group-tab:: XML
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.. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.xml
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:language: xml
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:lines: 3-4
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.. group-tab:: YAML
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.. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.yaml
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:language: yaml
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:lines: 6-9
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1.4 Build
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~~~~~~~~~
@@ -277,7 +307,7 @@ Now you can start the turtle broadcaster demo:
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.. code-block:: console
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$ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo.launch.py
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$ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo_launch.xml # .py or .yaml are also acceptable
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You should notice that the new ``carrot1`` frame appeared in the transformation tree.
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.. code-block:: console
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$ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo.launch.py target_frame:=carrot1
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$ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo_launch.xml target_frame:=carrot1 # .py or .yaml are also acceptable
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The second way is to update the launch file.
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To do so, open the ``turtle_tf2_fixed_frame_demo.launch.py`` file, and add the ``'target_frame': 'carrot1'`` parameter via ``launch_arguments`` argument.
@@ -446,10 +476,24 @@ Finally, add the ``install(TARGETS…)`` section so ``ros2 run`` can find your e
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2.3 Write the launch file
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~~~~~~~~~~~~~~~~~~~~~~~~~
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To test this code, create a new launch file ``turtle_tf2_dynamic_frame_demo.launch.py`` in the ``src/learning_tf2_cpp/launch`` directory and paste the following code:
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To test this code, create a new launch file ``turtle_tf2_dynamic_frame_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``src/learning_tf2_cpp/launch`` directory and paste the following code:
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.. tabs::
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.. group-tab:: Python
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.. literalinclude:: launch/turtle_tf2_dynamic_frame_demo_launch.py
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:language: python
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.. group-tab:: XML
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.. literalinclude:: launch/turtle_tf2_dynamic_frame_demo_launch.xml
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:language: xml
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.. group-tab:: YAML
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.. literalinclude:: launch/turtle_tf2_dynamic_frame_demo_launch.py
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:language: python
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.. literalinclude:: launch/turtle_tf2_dynamic_frame_demo_launch.yaml
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:language: yaml
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2.4 Build
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.. code-block:: console
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$ ros2 launch learning_tf2_cpp turtle_tf2_dynamic_frame_demo.launch.py
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$ ros2 launch learning_tf2_cpp turtle_tf2_dynamic_frame_demo_launch.xml # .py or .yaml are also acceptable
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You should see that the second turtle is following the carrot's position that is constantly changing.
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‎source/Tutorials/Intermediate/Tf2/Adding-A-Frame-Py.rst‎

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@@ -160,19 +160,49 @@ Add the following line between the ``'console_scripts':`` brackets:
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~~~~~~~~~~~~~~~~~~~~~~~~~
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Now let's create a launch file for this example.
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With your text editor, create a new file called ``turtle_tf2_fixed_frame_demo.launch.py`` in the ``src/learning_tf2_py/launch`` directory, and add the following lines:
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With your text editor, create a new file called ``turtle_tf2_fixed_frame_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``src/learning_tf2_py/launch`` directory, and add the following lines:
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.. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.py
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:name: turtle_tf2_fixed_frame_demo_launch.py
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:language: python
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.. tabs::
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.. group-tab:: Python
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.. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.py
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:name: turtle_tf2_fixed_frame_demo_launch.py
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:language: python
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.. group-tab:: XML
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.. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.xml
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:language: xml
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.. group-tab:: YAML
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.. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.yaml
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:language: yaml
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This launch file imports the required packages and then creates a ``demo_nodes`` variable that will store nodes that we created in the previous tutorial's launch file.
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The last part of the code will add our fixed ``carrot1`` frame to the turtlesim world using our ``fixed_frame_tf2_broadcaster`` node.
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.. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.py
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:language: python
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:lines: 14-18
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.. tabs::
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.. group-tab:: Python
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.. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.py
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:language: python
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:lines: 14-18
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.. group-tab:: XML
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.. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.xml
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:language: xml
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:lines: 3-4
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.. group-tab:: YAML
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.. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.yaml
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:language: yaml
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:lines: 6-9
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1.4 Build
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~~~~~~~~~
@@ -254,7 +284,7 @@ Now you can start the turtle broadcaster demo:
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.. code-block:: console
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$ ros2 launch learning_tf2_py turtle_tf2_fixed_frame_demo.launch.py
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$ ros2 launch learning_tf2_py turtle_tf2_fixed_frame_demo_launch.xml # .py or .yaml are also acceptable
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You should notice that the new ``carrot1`` frame appeared in the transformation tree.
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.. code-block:: console
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$ ros2 launch learning_tf2_py turtle_tf2_fixed_frame_demo.launch.py target_frame:=carrot1
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$ ros2 launch learning_tf2_py turtle_tf2_fixed_frame_demo_launch.xml target_frame:=carrot1 # .py or .yaml are also acceptable
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The second way is to update the launch file.
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To do so, open the ``turtle_tf2_fixed_frame_demo.launch.py`` file, and add the ``'target_frame': 'carrot1'`` parameter via ``launch_arguments`` argument.
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2.3 Write the launch file
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~~~~~~~~~~~~~~~~~~~~~~~~~
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To test this code, create a new launch file ``turtle_tf2_dynamic_frame_demo.launch.py`` in the ``src/learning_tf2_py/launch`` directory and paste the following code:
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To test this code, create a new launch file ``turtle_tf2_dynamic_frame_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``src/learning_tf2_py/launch`` directory and paste the following code:
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.. tabs::
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.. group-tab:: Python
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.. literalinclude:: launch/py_turtle_tf2_dynamic_frame_demo_launch.py
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:name: turtle_tf2_dynamic_frame_demo_launch.py
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.. group-tab:: XML
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.. literalinclude:: launch/py_turtle_tf2_dynamic_frame_demo_launch.xml
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:language: xml
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.. group-tab:: YAML
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.. literalinclude:: launch/py_turtle_tf2_dynamic_frame_demo_launch.py
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:name: turtle_tf2_dynamic_frame_demo_launch.py
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.. literalinclude:: launch/py_turtle_tf2_dynamic_frame_demo_launch.yaml
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:language: yaml
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.. code-block:: console
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$ ros2 launch learning_tf2_py turtle_tf2_dynamic_frame_demo.launch.py
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$ ros2 launch learning_tf2_py turtle_tf2_dynamic_frame_demo_launch.xml # .py or .yaml are also acceptable
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You should see that the second turtle is following the carrot's position that is constantly changing.
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‎source/Tutorials/Intermediate/Tf2/Debugging-Tf2-Problems.rst‎

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} catch (tf2::TransformException & ex) {
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And save changes to the file.
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In order to run this demo, we need to create a launch file ``start_tf2_debug_demo.launch.py`` in the ``launch`` subdirectory of package ``learning_tf2_cpp``:
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In order to run this demo, we need to create a launch file ``start_tf2_debug_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``launch`` subdirectory of package ``learning_tf2_cpp``:
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.. literalinclude:: launch/start_tf2_debug_demo_launch.py
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:language: python
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.. tabs::
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.. group-tab:: Python
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.. literalinclude:: launch/start_tf2_debug_demo_launch.py
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:language: python
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.. group-tab:: XML
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.. literalinclude:: launch/start_tf2_debug_demo_launch.xml
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:language: xml
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.. group-tab:: YAML
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.. literalinclude:: launch/start_tf2_debug_demo_launch.yaml
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:language: yaml
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Don't forget to add the ``turtle_tf2_listener_debug`` executable to the ``CMakeLists.txt`` and build the package.
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Now let's run it to see what happens:
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.. tabs::
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.. group-tab:: XML
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.. code-block:: console
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$ ros2 launch learning_tf2_cpp start_tf2_debug_demo.launch.py
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$ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.xml
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.. group-tab:: YAML
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.. code-block:: console
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$ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.yaml
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.. group-tab:: Python
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.. code-block:: console
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$ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.py
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You will now see that the turtlesim came up.
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At the same time, if you run the ``turtle_teleop_key`` in another terminal window, you can use the arrow keys to drive the ``turtle1`` around.
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And now stop the running demo, build it, and run it again:
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.. tabs::
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.. group-tab:: XML
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$ ros2 launch learning_tf2_cpp start_tf2_debug_demo.launch.py
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[turtle_tf2_listener_debug-4] [INFO] [1630223704.617382464] [listener_debug]: Could not
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transform turtle2 to turtle1: Lookup would require extrapolation into the future. Requested
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time 1630223704.617054 but the latest data is at time 1630223704.616726, when looking up
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transform from frame [turtle1] to frame [turtle2]
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.. code-block:: console
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$ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.xml
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[turtle_tf2_listener_debug-4] [INFO] [1630223704.617382464] [listener_debug]: Could not
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transform turtle2 to turtle1: Lookup would require extrapolation into the future. Requested
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time 1630223704.617054 but the latest data is at time 1630223704.616726, when looking up
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transform from frame [turtle1] to frame [turtle2]
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.. group-tab:: YAML
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$ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.yaml
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[turtle_tf2_listener_debug-4] [INFO] [1630223704.617382464] [listener_debug]: Could not
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transform turtle2 to turtle1: Lookup would require extrapolation into the future. Requested
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time 1630223704.617054 but the latest data is at time 1630223704.616726, when looking up
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transform from frame [turtle1] to frame [turtle2]
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.. group-tab:: Python
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.. code-block:: console
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$ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.py
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[turtle_tf2_listener_debug-4] [INFO] [1630223704.617382464] [listener_debug]: Could not
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transform turtle2 to turtle1: Lookup would require extrapolation into the future. Requested
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time 1630223704.617054 but the latest data is at time 1630223704.616726, when looking up
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transform from frame [turtle1] to frame [turtle2]
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And right away we run into the next problem.
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It is usual to use a longer periods, just to make sure that the transform will arrive.
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Stop the demo, build and run:
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.. code-block:: console
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.. tabs::
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.. group-tab:: XML
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.. code-block:: console
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$ ros2 launch turtle_tf2 start_tf2_debug_demo_launch.xml
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.. code-block:: console
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$ ros2 launch turtle_tf2 start_tf2_debug_demo_launch.yaml
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.. group-tab:: Python
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.. code-block:: console
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$ ros2 launch learning_tf2_cpp start_tf2_debug_demo.launch.py
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$ ros2 launch turtle_tf2 start_tf2_debug_demo_launch.py
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And you should finally see the turtle move!
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‎source/Tutorials/Intermediate/Tf2/Learning-About-Tf2-And-Time-Cpp.rst‎

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@@ -67,7 +67,7 @@ Now try to run the launch file.
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$ ros2 launch learning_tf2_cpp turtle_tf2_demo_launch.xml # .py or .yaml are also acceptable
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[INFO] [1629873136.345688064] [listener]: Could not transform turtle2 to turtle1: Lookup would
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require extrapolation into the future. Requested time 1629873136.345539 but the latest data
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is at time 1629873136.338804, when looking up transform from frame [turtle1] to frame [turtle2]
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You can now run the launch file.
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.. tabs::
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$ ros2 launch learning_tf2_cpp turtle_tf2_demo_launch.xml
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$ ros2 launch learning_tf2_cpp turtle_tf2_demo_launch.yaml
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.. group-tab:: Python
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.. code-block:: console
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$ ros2 launch learning_tf2_cpp turtle_tf2_demo.launch.py
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$ ros2 launch learning_tf2_cpp turtle_tf2_demo_launch.py
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You should notice that ``lookupTransform()`` will actually block until the transform between the two turtles becomes available (this will usually take a few milliseconds).
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Once the timeout has been reached (fifty milliseconds in this case), an exception will be raised only if the transform is still not available.

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