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

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Merged
merged 1 commit into from
Aug 8, 2025
Merged

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

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2 changes: 1 addition & 1 deletion nav2_amcl/src/amcl_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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2 changes: 1 addition & 1 deletion nav2_behaviors/src/behavior_server.cpp
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Expand Up @@ -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()) {
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2 changes: 1 addition & 1 deletion nav2_bt_navigator/src/bt_navigator.cpp
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Expand Up @@ -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();
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2 changes: 1 addition & 1 deletion nav2_collision_monitor/src/collision_detector_node.cpp
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Expand Up @@ -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());
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2 changes: 1 addition & 1 deletion nav2_collision_monitor/src/collision_monitor_node.cpp
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Expand Up @@ -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;
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2 changes: 1 addition & 1 deletion nav2_docking/opennav_docking/src/docking_server.cpp
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Expand Up @@ -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();
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2 changes: 1 addition & 1 deletion nav2_route/src/route_server.cpp
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Expand Up @@ -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_ =
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2 changes: 1 addition & 1 deletion nav2_smoother/src/nav2_smoother.cpp
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Expand Up @@ -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;
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