Writing A Tf2 Listener Cpp

[marcoag]

Check the documentation for the 'Writing A Tf2 Listener Cpp' page

Configuration

• Chip set: AMD64
• Build type: Debian
• OS: Ubuntu Noble 24.04
• DDS: FastDDS

Links

• Writing A Tf2 Listener Cpp page

Process

Step 1 - I was able to follow the documentation.

Step 2 - The documentation seemed clear to me.

Step 3 - The documentation didn't have any obvious errors.

[ottojo]

i can test this, please assign this to me 👍
edit: since this is part of a series of tutorials, i will start with #1166

[ottojo]

i am now finally getting to this, please do assign me

[ottojo]

The provided code and commandline snippets all work as expected.

I opened a MR for a few notes i had during testing: ros2/ros2_documentation#4434

• the part of actually using the TF goes completely unmentioned, i added a sentence at least to state the purpose of that bit of the code
• two minor syntax fixes, one too many {} inline and a whitespace change in the code
• code uses a target_frame parameter, which is later called fromFrameRel and then passed to the source_frame argument of lookupTransform(), which may be confusing. I really like the introduction clarifying relationships between frames versus transformations of points in frames in this docs pr Add draft of velocity transform specification ros2/ros2_documentation#4235, so we might link to that in the future

[clalancette]

Thanks for testing! Given that you have the open PR, I'm going to close this out as "done", and we can iterate on the PR.