migrate DepthCloudDisplay to tf2

ros-visualization · May 9, 2018 · 2dc400d · 2dc400d
1 parent ffdfad0
commit 2dc400d
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Showing 2 changed files with 10 additions and 5 deletions.
diff --git a/src/rviz/default_plugin/depth_cloud_display.cpp b/src/rviz/default_plugin/depth_cloud_display.cpp
@@ -39,7 +39,7 @@
 #include "rviz/properties/int_property.h"
 #include "rviz/frame_manager.h"
 
-#include <tf/transform_listener.h>
+#include <tf2_ros/buffer.h>
 
 #include <boost/bind.hpp>
 #include <boost/algorithm/string/erase.hpp>
@@ -310,8 +310,13 @@ void DepthCloudDisplay::subscribe()
       // subscribe to depth map topic
       depthmap_sub_->subscribe(*depthmap_it_, depthmap_topic, queue_size_,  image_transport::TransportHints(depthmap_transport));
 
-      depthmap_tf_filter_.reset(
-          new tf::MessageFilter<sensor_msgs::Image>(*depthmap_sub_, *context_->getTFClient(), fixed_frame_.toStdString(), queue_size_, threaded_nh_));
+      depthmap_tf_filter_.reset(new tf2_ros::MessageFilter<sensor_msgs::Image>(
+        *depthmap_sub_,
+        *context_->getTF2BufferPtr(),
+        fixed_frame_.toStdString(),
+        queue_size_,
+        threaded_nh_
+      ));
 
       // subscribe to CameraInfo  topic
       std::string info_topic = image_transport::getCameraInfoTopic(depthmap_topic);

diff --git a/src/rviz/default_plugin/depth_cloud_display.h b/src/rviz/default_plugin/depth_cloud_display.h
@@ -40,7 +40,7 @@
 # include <message_filters/subscriber.h>
 # include <message_filters/synchronizer.h>
 # include <message_filters/sync_policies/approximate_time.h>
-# include <tf/message_filter.h>
+# include <tf2_ros/message_filter.h>
 
 # include "rviz/properties/enum_property.h"
 # include "rviz/properties/float_property.h"
@@ -181,7 +181,7 @@ protected Q_SLOTS:
   // ROS image subscription & synchronization
   boost::scoped_ptr<image_transport::ImageTransport> depthmap_it_;
   boost::shared_ptr<image_transport::SubscriberFilter > depthmap_sub_;
-  boost::shared_ptr<tf::MessageFilter<sensor_msgs::Image> > depthmap_tf_filter_;
+  boost::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::Image> > depthmap_tf_filter_;
   boost::scoped_ptr<image_transport::ImageTransport> rgb_it_;
   boost::shared_ptr<image_transport::SubscriberFilter > rgb_sub_;
   boost::shared_ptr<message_filters::Subscriber<sensor_msgs::CameraInfo> > cam_info_sub_;