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Transform Data Callback Python #664

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Merged
ahcorde merged 5 commits into from
Apr 4, 2024
Merged

Transform Data Callback Python #664

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09a3f83
WaitForTransform Python
CursedRock17 Mar 29, 2024
bedc663
Using lookup transform
CursedRock17 Apr 1, 2024
1e8190d
Using full core
CursedRock17 Apr 2, 2024
1edf056
Fixing API
CursedRock17 Apr 2, 2024
e6f452d
Updating Docs
CursedRock17 Apr 4, 2024
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8 changes: 4 additions & 4 deletions tf2_ros_py/tf2_ros/buffer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -302,13 +302,13 @@ def wait_for_transform_async(
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)
fut.set_result(self.lookup_transform(target_frame, source_frame, time))
return fut

def _on_new_data():
try:
if self.can_transform_core(target_frame, source_frame, time)[0]:
fut.set_result(True)
fut.set_result(self.lookup_transform(target_frame, source_frame, time))
except BaseException as e:
fut.set_exception(e)

Expand Down Expand Up @@ -338,13 +338,13 @@ def wait_for_transform_full_async(
fut = rclpy.task.Future()
if self.can_transform_full_core(target_frame, target_time, source_frame, source_time, fixed_frame)[0]:
# Short cut, the transform is available
fut.set_result(True)
fut.set_result(self.lookup_transform(target_frame, source_frame, time))
return fut

def _on_new_data():
try:
if self.can_transform_full_core(target_frame, target_time, source_frame, source_time, fixed_frame)[0]:
fut.set_result(True)
fut.set_result(self.lookup_transform(target_frame, source_frame, time))
except BaseException as e:
fut.set_exception(e)

Expand Down