Construct TF listeners passing nodes, spinning on separate thread (#5406) (#5432)

* Construct TF listeners passing nodes, spinning on separate thread



* (tentative) pin down of the impacting change



---------


(cherry picked from commit 1468484)

Signed-off-by: Patrick Roncagliolo <[email protected]>
Co-authored-by: Patrick Roncagliolo <[email protected]>

Author: mergify[bot]

nav2_amcl/src/amcl_node.cpp

@@ -1510,7 +1510,7 @@ AmclNode::initTransforms()
     get_node_timers_interface(),
     callback_group_);
   tf_buffer_->setCreateTimerInterface(timer_interface);
-  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
+  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, this, true);
   tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(shared_from_this());
 
   sent_first_transform_ = false;

nav2_behaviors/src/behavior_server.cpp

@@ -87,7 +87,7 @@ BehaviorServer::on_configure(const rclcpp_lifecycle::State & state)
     get_node_base_interface(),
     get_node_timers_interface());
   tf_->setCreateTimerInterface(timer_interface);
-  transform_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_);
+  transform_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_, this, true);
 
   behavior_types_.resize(behavior_ids_.size());
   if (!loadBehaviorPlugins()) {

nav2_bt_navigator/src/bt_navigator.cpp

@@ -67,7 +67,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & state)
     get_node_base_interface(), get_node_timers_interface());
   tf_->setCreateTimerInterface(timer_interface);
   tf_->setUsingDedicatedThread(true);
-  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_, this, false);
+  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_, this, true);
 
   global_frame_ = get_parameter("global_frame").as_string();
   robot_frame_ = get_parameter("robot_base_frame").as_string();

nav2_collision_monitor/src/collision_detector_node.cpp

@@ -50,7 +50,7 @@ CollisionDetector::on_configure(const rclcpp_lifecycle::State & state)
     this->get_node_base_interface(),
     this->get_node_timers_interface());
   tf_buffer_->setCreateTimerInterface(timer_interface);
-  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
+  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, this, true);
 
   state_pub_ = this->create_publisher<nav2_msgs::msg::CollisionDetectorState>(
     "collision_detector_state", rclcpp::SystemDefaultsQoS());

nav2_collision_monitor/src/collision_monitor_node.cpp

@@ -52,7 +52,7 @@ CollisionMonitor::on_configure(const rclcpp_lifecycle::State & state)
     this->get_node_base_interface(),
     this->get_node_timers_interface());
   tf_buffer_->setCreateTimerInterface(timer_interface);
-  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
+  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, this, true);
 
   std::string cmd_vel_in_topic;
   std::string cmd_vel_out_topic;

nav2_docking/opennav_docking/src/docking_server.cpp

@@ -118,7 +118,7 @@ DockingServer::on_activate(const rclcpp_lifecycle::State & /*state*/)
 
   auto node = shared_from_this();
 
-  tf2_listener_ = std::make_unique<tf2_ros::TransformListener>(*tf2_buffer_);
+  tf2_listener_ = std::make_unique<tf2_ros::TransformListener>(*tf2_buffer_, this, true);
   dock_db_->activate();
   navigator_->activate();
   vel_publisher_->on_activate();

nav2_route/src/route_server.cpp

@@ -35,7 +35,7 @@ RouteServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
     get_node_base_interface(),
     get_node_timers_interface());
   tf_->setCreateTimerInterface(timer_interface);
-  transform_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_);
+  transform_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_, this, true);
 
   auto node = shared_from_this();
   graph_vis_publisher_ =

nav2_smoother/src/nav2_smoother.cpp

@@ -80,7 +80,7 @@ SmootherServer::on_configure(const rclcpp_lifecycle::State & state)
   auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(
     get_node_base_interface(), get_node_timers_interface());
   tf_->setCreateTimerInterface(timer_interface);
-  transform_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_);
+  transform_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_, this, true);
 
   std::string costmap_topic, footprint_topic, robot_base_frame;
   double transform_tolerance = 0.1;