Change tf2_ros C to C++ headers

test_tf2/test/buffer_core_test.cpp

@@ -49,7 +49,7 @@
 #include <tf2/LinearMath/Quaternion.hpp>
 #include <tf2/time.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <tf2_ros/buffer_interface.h>
+#include <tf2_ros/buffer_interface.hpp>
 
 #include "permuter.hpp"
 

test_tf2/test/test_buffer_client.cpp

@@ -40,7 +40,7 @@
 #include <tf2_bullet/tf2_bullet.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <tf2_kdl/tf2_kdl.hpp>
-#include <tf2_ros/buffer_client.h>
+#include <tf2_ros/buffer_client.hpp>
 
 #include <chrono>
 #include <functional>

test_tf2/test/test_buffer_server.cpp

@@ -34,9 +34,9 @@
 *
 * Author: Eitan Marder-Eppstein
 *********************************************************************/
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/buffer_server.h>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/buffer_server.hpp>
+#include <tf2_ros/transform_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <memory>
 

test_tf2/test/test_message_filter.cpp

@@ -44,9 +44,9 @@
 #include <tf2/LinearMath/Quaternion.hpp>
 #include <tf2/LinearMath/Vector3.hpp>
 #include <tf2/time.hpp>
-#include <tf2_ros/buffer_interface.h>
-#include <tf2_ros/create_timer_ros.h>
-#include <tf2_ros/message_filter.h>
+#include <tf2_ros/buffer_interface.hpp>
+#include <tf2_ros/create_timer_ros.hpp>
+#include <tf2_ros/message_filter.hpp>
 
 class Notification
 {

test_tf2/test/test_static_publisher.cpp

@@ -39,10 +39,10 @@
 #include <tf2/buffer_core.hpp>
 #include <tf2/exceptions.hpp>
 #include <tf2/time.hpp>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/buffer_interface.h>
-#include <tf2_ros/static_transform_broadcaster.h>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/buffer_interface.hpp>
+#include <tf2_ros/static_transform_broadcaster.hpp>
+#include <tf2_ros/transform_listener.hpp>
 
 #include "permuter.hpp"
 

test_tf2/test/test_tf2_bullet.cpp

@@ -30,7 +30,7 @@
 /** \author Wim Meeussen */
 
 #include <tf2_bullet/tf2_bullet.hpp>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <gtest/gtest.h>
 #include <tf2/convert.hpp>

tf2_bullet/include/tf2_bullet/tf2_bullet.hpp

@@ -38,7 +38,7 @@
 #include "LinearMath/btScalar.h"
 #include "LinearMath/btTransform.h"
 #include "geometry_msgs/msg/point_stamped.hpp"
-#include "tf2_ros/buffer_interface.h"
+#include "tf2_ros/buffer_interface.hpp"
 
 #if (BT_BULLET_VERSION <= 282)
 // Suppress compilation warning on older versions of Bullet.

tf2_eigen/include/tf2_eigen/tf2_eigen.hpp

@@ -39,8 +39,8 @@
 #include "geometry_msgs/msg/twist.hpp"
 
 #include "tf2/convert.hpp"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/buffer_interface.h"
+#include "tf2_ros/buffer.hpp"
+#include "tf2_ros/buffer_interface.hpp"
 
 namespace tf2
 {

tf2_eigen/test/tf2_eigen-test.cpp

@@ -64,8 +64,8 @@
 #include "tf2/convert.hpp"
 #include "tf2/transform_datatypes.hpp"
 #include "tf2_eigen/tf2_eigen.hpp"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/transform_listener.h"
+#include "tf2_ros/buffer.hpp"
+#include "tf2_ros/transform_listener.hpp"
 
 TEST(TfEigen, ConvertVector3dStamped)
 {

tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp

@@ -57,7 +57,7 @@
 #include "tf2/LinearMath/Quaternion.hpp"
 #include "tf2/LinearMath/Transform.hpp"
 #include "tf2/LinearMath/Vector3.hpp"
-#include "tf2_ros/buffer_interface.h"
+#include "tf2_ros/buffer_interface.hpp"
 
 namespace tf2
 {

tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp

@@ -43,8 +43,8 @@
 
 #include "rclcpp/clock.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/transform_listener.h"
+#include "tf2_ros/buffer.hpp"
+#include "tf2_ros/transform_listener.hpp"
 
 #include <geometry_msgs/msg/velocity_stamped.hpp>
 

tf2_kdl/include/tf2_kdl/tf2_kdl.hpp

@@ -33,7 +33,7 @@
 #define TF2_KDL_HPP
 
 #include <tf2/convert.hpp>
-#include <tf2_ros/buffer_interface.h>
+#include <tf2_ros/buffer_interface.hpp>
 #include <kdl/frames.hpp>
 #include <geometry_msgs/msg/point_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>

tf2_kdl/test/test_tf2_kdl.cpp

@@ -42,7 +42,7 @@
 #include <kdl/frames_io.hpp>
 #include <gtest/gtest.h>
 #include <rclcpp/rclcpp.hpp>
-#include "tf2_ros/buffer.h"
+#include "tf2_ros/buffer.hpp"
 #include <tf2/convert.hpp>
 
 std::unique_ptr<tf2_ros::Buffer> tf_buffer;

tf2_ros/include/tf2_ros/async_buffer_interface.h

@@ -30,94 +30,6 @@
 #ifndef TF2_ROS__ASYNC_BUFFER_INTERFACE_H_
 #define TF2_ROS__ASYNC_BUFFER_INTERFACE_H_
 
-#include <functional>
-#include <future>
-#include <string>
-#include <utility>
-
-#include "tf2_ros/visibility_control.h"
-#include "tf2/buffer_core.hpp"
-#include "tf2/time.hpp"
-#include "tf2/transform_datatypes.hpp"
-
-#include "geometry_msgs/msg/transform_stamped.hpp"
-
-namespace tf2_ros
-{
-
-class TransformStampedFuture : public std::shared_future<geometry_msgs::msg::TransformStamped>
-{
-  using BaseType = std::shared_future<geometry_msgs::msg::TransformStamped>;
-
-public:
-  /// Constructor
-  explicit TransformStampedFuture(BaseType && future) noexcept
-  : BaseType(std::move(future)) {}
-
-  /// Copy constructor
-  TransformStampedFuture(const TransformStampedFuture & ts_future) noexcept
-  : BaseType(ts_future),
-    handle_(ts_future.handle_) {}
-
-  /// Move constructor
-  TransformStampedFuture(TransformStampedFuture && ts_future) noexcept
-  : BaseType(std::move(ts_future)),
-    handle_(std::move(ts_future.handle_)) {}
-
-  void setHandle(const tf2::TransformableRequestHandle handle)
-  {
-    handle_ = handle;
-  }
-
-  tf2::TransformableRequestHandle getHandle() const
-  {
-    return handle_;
-  }
-
-private:
-  tf2::TransformableRequestHandle handle_ {};
-};
-
-using TransformReadyCallback = std::function<void (const TransformStampedFuture &)>;
-
-/**
- * \brief Abstract interface for asynchronous operations on a `tf2::BufferCoreInterface`.
- * Implementations include tf2_ros::Buffer.
- */
-class AsyncBufferInterface
-{
-public:
-  TF2_ROS_PUBLIC
-  virtual
-  ~AsyncBufferInterface() = default;
-
-  /** \brief Wait for a transform between two frames to become available.
-   * \param target_frame The frame into which to transform.
-   * \param source_frame The frame from which to tranform.
-   * \param time The time at which to transform.
-   * \param timeout Duration after which waiting will be stopped.
-   * \param callback The function to be called when the transform becomes available or a timeout
-   *   occurs. In the case of timeout, an exception will be set on the future.
-   * \return A future to the requested transform. If a timeout occurs a `tf2::LookupException`
-   *    will be set on the future.
-   */
-  TF2_ROS_PUBLIC
-  virtual TransformStampedFuture
-  waitForTransform(
-    const std::string & target_frame,
-    const std::string & source_frame,
-    const tf2::TimePoint & time,
-    const tf2::Duration & timeout,
-    TransformReadyCallback callback) = 0;
-
-  /**
-   * \brief Cancel the future to make sure the callback of requested transform is clean.
-   * \param ts_future The future to the requested transform.
-   */
-  virtual void
-  cancel(const TransformStampedFuture & ts_future) = 0;
-};  // class AsyncBufferInterface
-
-}  // namespace tf2_ros
+#include <tf2_ros/async_buffer_interface.hpp>
 
 #endif  // TF2_ROS__ASYNC_BUFFER_INTERFACE_H_

tf2_ros/include/tf2_ros/async_buffer_interface.hpp

@@ -0,0 +1,123 @@
+/*
+ * Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef TF2_ROS__ASYNC_BUFFER_INTERFACE_HPP_
+#define TF2_ROS__ASYNC_BUFFER_INTERFACE_HPP_
+
+#include <functional>
+#include <future>
+#include <string>
+#include <utility>
+
+#include "tf2_ros/visibility_control.hpp"
+#include "tf2/buffer_core.hpp"
+#include "tf2/time.hpp"
+#include "tf2/transform_datatypes.hpp"
+
+#include "geometry_msgs/msg/transform_stamped.hpp"
+
+namespace tf2_ros
+{
+
+class TransformStampedFuture : public std::shared_future<geometry_msgs::msg::TransformStamped>
+{
+  using BaseType = std::shared_future<geometry_msgs::msg::TransformStamped>;
+
+public:
+  /// Constructor
+  explicit TransformStampedFuture(BaseType && future) noexcept
+  : BaseType(std::move(future)) {}
+
+  /// Copy constructor
+  TransformStampedFuture(const TransformStampedFuture & ts_future) noexcept
+  : BaseType(ts_future),
+    handle_(ts_future.handle_) {}
+
+  /// Move constructor
+  TransformStampedFuture(TransformStampedFuture && ts_future) noexcept
+  : BaseType(std::move(ts_future)),
+    handle_(std::move(ts_future.handle_)) {}
+
+  void setHandle(const tf2::TransformableRequestHandle handle)
+  {
+    handle_ = handle;
+  }
+
+  tf2::TransformableRequestHandle getHandle() const
+  {
+    return handle_;
+  }
+
+private:
+  tf2::TransformableRequestHandle handle_ {};
+};
+
+using TransformReadyCallback = std::function<void (const TransformStampedFuture &)>;
+
+/**
+ * \brief Abstract interface for asynchronous operations on a `tf2::BufferCoreInterface`.
+ * Implementations include tf2_ros::Buffer.
+ */
+class AsyncBufferInterface
+{
+public:
+  TF2_ROS_PUBLIC
+  virtual
+  ~AsyncBufferInterface() = default;
+
+  /** \brief Wait for a transform between two frames to become available.
+   * \param target_frame The frame into which to transform.
+   * \param source_frame The frame from which to tranform.
+   * \param time The time at which to transform.
+   * \param timeout Duration after which waiting will be stopped.
+   * \param callback The function to be called when the transform becomes available or a timeout
+   *   occurs. In the case of timeout, an exception will be set on the future.
+   * \return A future to the requested transform. If a timeout occurs a `tf2::LookupException`
+   *    will be set on the future.
+   */
+  TF2_ROS_PUBLIC
+  virtual TransformStampedFuture
+  waitForTransform(
+    const std::string & target_frame,
+    const std::string & source_frame,
+    const tf2::TimePoint & time,
+    const tf2::Duration & timeout,
+    TransformReadyCallback callback) = 0;
+
+  /**
+   * \brief Cancel the future to make sure the callback of requested transform is clean.
+   * \param ts_future The future to the requested transform.
+   */
+  virtual void
+  cancel(const TransformStampedFuture & ts_future) = 0;
+};  // class AsyncBufferInterface
+
+}  // namespace tf2_ros
+
+#endif  // TF2_ROS__ASYNC_BUFFER_INTERFACE_HPP_