deprecate tf in favor of tf2 in VisualizationManager

ros-visualization · May 9, 2018 · b1bb6a2 · b1bb6a2
1 parent 71c66a6
commit b1bb6a2
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Showing 3 changed files with 56 additions and 3 deletions.
diff --git a/src/rviz/display_context.h b/src/rviz/display_context.h
@@ -29,7 +29,8 @@
 #ifndef DISPLAY_CONTEXT_H
 #define DISPLAY_CONTEXT_H
 
-#include <stdint.h> // for uint64_t
+#include <cstdint> // for uint64_t
+#include <memory>
 
 #include <QObject>
 #include <QString>
@@ -51,6 +52,11 @@ namespace tf
 class TransformListener;
 }
 
+namespace tf2_ros
+{
+class Buffer;
+}
+
 namespace rviz
 {
 
@@ -90,8 +96,12 @@ Q_OBJECT
   virtual FrameManager* getFrameManager() const = 0;
 
   /** @brief Convenience function: returns getFrameManager()->getTFClient(). */
+  [[deprecated("use getTF2BufferPtr() instead")]]
   virtual tf::TransformListener* getTFClient() const = 0;
 
+  /** @brief Convenience function: returns getFrameManager()->getTF2BufferPtr(). */
+  virtual std::shared_ptr<tf2_ros::Buffer> getTF2BufferPtr() const = 0;
+
   /** @brief Return the fixed frame name. */
   virtual QString getFixedFrame() const = 0;
 

diff --git a/src/rviz/visualization_manager.cpp b/src/rviz/visualization_manager.cpp
@@ -117,7 +117,21 @@ class VisualizationManagerPrivate
   boost::mutex render_mutex_;
 };
 
-VisualizationManager::VisualizationManager( RenderPanel* render_panel, WindowManagerInterface* wm, boost::shared_ptr<tf::TransformListener> tf )
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+VisualizationManager::VisualizationManager(RenderPanel* render_panel, WindowManagerInterface * wm)
+: VisualizationManager(render_panel, wm, boost::shared_ptr<tf::TransformListener>())
+{}
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+
+VisualizationManager::VisualizationManager(
+  RenderPanel* render_panel,
+  WindowManagerInterface* wm,
+  boost::shared_ptr<tf::TransformListener> tf)
 : ogre_root_( Ogre::Root::getSingletonPtr() )
 , update_timer_(0)
 , shutting_down_(false)
@@ -424,6 +438,11 @@ tf::TransformListener* VisualizationManager::getTFClient() const
   return frame_manager_->getTFClient();
 }
 
+std::shared_ptr<tf2_ros::Buffer> VisualizationManager::getTF2BufferPtr() const
+{
+  return frame_manager_->getTF2BufferPtr();
+}
+
 void VisualizationManager::resetTime()
 {
   root_display_group_->reset();

diff --git a/src/rviz/visualization_manager.h b/src/rviz/visualization_manager.h
@@ -109,7 +109,25 @@ Q_OBJECT
    *        VisualizationFrame, the top-level container widget of rviz).
    * @param tf a pointer to tf::TransformListener which will be internally used by FrameManager.
    */
-  VisualizationManager( RenderPanel* render_panel, WindowManagerInterface* wm = 0, boost::shared_ptr<tf::TransformListener> tf = boost::shared_ptr<tf::TransformListener>() );
+  explicit VisualizationManager(
+    RenderPanel* render_panel,
+    WindowManagerInterface* wm = 0);
+
+  [[deprecated(
+    "This constructor signature will be removed in the next version. "
+    "If you still need to pass a boost::shared_ptr<tf::TransformListener>, "
+    "disable the warning explicitly. "
+    "When this constructor is removed, a new optional argument will added to "
+    "the other constructor and it will take a std::pair<> containing a "
+    "std::shared_ptr<tf2_ros::Buffer> and a "
+    "std::shared_ptr<tf2_ros::TransformListener>. "
+    "However, that cannot occur until the use of tf::TransformListener is "
+    "removed internally."
+  )]]
+  VisualizationManager(
+    RenderPanel* render_panel,
+    WindowManagerInterface* wm,
+    boost::shared_ptr<tf::TransformListener> tf);
 
   /**
    * \brief Destructor
@@ -187,8 +205,14 @@ Q_OBJECT
   /**
    * @brief Convenience function: returns getFrameManager()->getTFClient().
    */
+  [[deprecated("use getTF2BufferPtr() instead")]]
   tf::TransformListener* getTFClient() const;
 
+  /**
+   * @brief Convenience function: returns getFrameManager()->getTF2BufferPtr().
+   */
+  std::shared_ptr<tf2_ros::Buffer> getTF2BufferPtr() const;
+
   /**
    * @brief Returns the Ogre::SceneManager used for the main RenderPanel.
    */