[WIP]: WaitForTransform Python (#194) #215
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allenh1
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…o be specified Signed-off-by: Hunter L. Allen <[email protected]>
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| fut = rclpy.task.Future() | ||
| if self.can_transform_core(target_frame, source_frame, time)[0]: | ||
| # Short cut, the transform is available | ||
| fut.set_result(True) |
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On #194 you wrote:
the result on future doesn't contain any info about the transform. It should probably have that.
Can you please clarify what information you're hoping to propagate up?
I was trying to say it would be nice if fut.result() returned the transform that was being waited for instead of True.
| return fut | ||
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| def wait_for_transform(target_frame, source_frame, time, callback): | ||
| return _wait_for_transform_async(target_frame, source_frame, time, callback) |
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Instead of adding wait_for_transform(..., callback), with ros2/rclpy#460 merged I think the utility #194 is asking for can be had by making the result on the future returned by wait_for_transform_async() contain the transform data. The interface someone would use is fut = wait_for_transform_async(...); fut.add_done_callback(my_tf_callback).
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@allenh1 What's the status on this one? Would you like to continue with it? If not, totally fine, but then I'll suggest we close it out. Thanks. |
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Slipped my mind entirely. I'd be glad to pick back up on it in the very near future, though. |
Welp, this was clearly delusional. I'm going to close this PR and free up the issue so as to not block progress here. Apologies for the delay. |
Split wait_for_transform_async into two functions to allow callback to be specified
Signed-off-by: Hunter L. Allen [email protected]
@sloretz Well aware that there's likely more to be done here, but I'm not sure what so I'm opening this for visibility.
On #194 you wrote:
Can you please clarify what information you're hoping to propagate up?