Changelog for package tf2

0.42.0 (2025-04-25)

0.41.0 (2025-04-25)

• Add isnan support (#780)
• Overflow Issue in durationFromSec() Function when Handling Extremely Large or Small Values (#785)
• Do not clobber callback handles when cancelling pending transformable requests (#779)
• Uniform cmake min version (#764)
• Contributors: Michael Carlstrom, Timo Röhling, cramke, mosfet80

0.40.1 (2025-01-15)

• Remove many extra conversions from Matrix3x3 to Quaternion (#741) Co-authored-by: jmachowinski <<jmachowinski@users.noreply.github.com>> Co-authored-by: Katherine Scott <<katherineAScott@gmail.com>>
• Cleanup deprecation warnings. (#744) The deprecation warnings were not printing out properly on GCC, at least; it would warn that #warning was not standard, and it would also not print out the actual warning. Also "deprecated" was spelled wrong. Fix all of these issues here.
• Contributors: Chris Lalancette, kyle-basis

0.40.0 (2024-12-20)

• Deprecate C Headers (#720)
• Removed unused var in tf2 (#735)
• Contributors: Alejandro Hernández Cordero, Lucas Wendland

0.39.3 (2024-11-25)

0.39.2 (2024-11-20)

0.39.1 (2024-10-15)

• Error String Filled (#715)
• Contributors: Lucas Wendland

0.39.0 (2024-10-03)

0.38.2 (2024-07-19)

0.38.1 (2024-07-09)

• Removed deprecated enuns (#699)
• Contributors: Alejandro Hernández Cordero

0.38.0 (2024-06-17)

0.37.1 (2024-05-29)

• [TimeCache] Improve performance for insertData() and pruneList() (#680) Co-authored-by: Chris Lalancette <<clalancette@gmail.com>>
• Removed warning (#682)

• Add cache_benchmark (#679) * Add cache_benchmark Co-authored-by: Chris Lalancette <<clalancette@gmail.com>>

• [cache_unittest] Add direct implementation testing on ordering, pruning (#678)
  • [cache_unittest] Add direct implementation testing on ordering, pruning
  • do getAllItems() approach
  • Return a reference instead.
  • mark getAllItems as internal

  * Fix warning on Windows. Co-authored-by: Chris Lalancette <<clalancette@gmail.com>>

• Contributors: Alejandro Hernández Cordero, Eric Cousineau

0.37.0 (2024-04-26)

0.36.2 (2024-04-10)

• Enable Twist interpolator (#646) Co-authored-by: Tully Foote <<tullyfoote@intrinsic.ai>>
• Warning Message Intervals for canTransform (#663)
• Contributors: Alejandro Hernández Cordero, Lucas Wendland

0.36.1 (2024-03-28)

• Nacho/minor fixes tf2 cache (#658)
• Removing console_bridge (#655)
• Contributors: Ignacio Vizzo, Lucas Wendland

0.36.0 (2024-02-07)

0.35.1 (2024-01-24)

• Fix constantly increasing memory in std::list (#636)
• Contributors: Ignacio Vizzo

0.35.0 (2023-12-26)

• Update the tf2 documentation (#638)
• Contributors: Chris Lalancette

0.34.0 (2023-11-06)

0.33.2 (2023-10-04)

0.33.1 (2023-09-07)

0.33.0 (2023-08-21)

0.32.2 (2023-07-11)

0.32.1 (2023-05-11)

• Fix error code returned in BufferCore::walkToTopParent (#601)
• Contributors: Patrick Roncagliolo

0.32.0 (2023-04-27)

0.31.2 (2023-04-13)

0.31.1 (2023-04-12)

0.31.0 (2023-04-11)

• Depend on ament_cmake_ros to default SHARED to ON (#591)
• Fix a potential crash in TimeCache::findClosest (#592)
• Extend TimeCache API to provide rich ExtrapolationException infos (#586)
• Contributors: Chris Lalancette, Patrick Roncagliolo, Tyler Weaver

0.30.0 (2023-02-14)

• Update geometry2 to C++17 (#584)
• Contributors: Chris Lalancette

0.29.0 (2022-11-21)

• Include required header Scalar.h (#559)
• Update maintainers (#560)
• Contributors: Audrow Nash, Shane Loretz

0.28.0 (2022-11-02)

0.27.0 (2022-09-13)

0.26.2 (2022-08-15)

0.26.1 (2022-06-24)

0.26.0 (2022-04-29)

0.25.0 (2022-04-05)

• Install includes to include/${PROJECT_NAME} and use modern CMake (#493)
• Contributors: Shane Loretz

0.24.0 (2022-03-31)

0.23.0 (2022-03-28)

• forward declare fromMsg to avoid missing symbols in downstream libraries (#485)
• Contributors: João C. Monteiro

0.22.0 (2022-03-01)

0.21.0 (2022-01-14)

• tf2: Enable common linter tests (#469)
• Contributors: Abrar Rahman Protyasha

0.20.0 (2021-12-17)

• Move time functions into time.cpp.
• Change a for loop to a while loop.
• Switch to C++-style casts.
• Remove totally unused (and unreachable) code.
• Replace NULL with nullptr.
• Fix up some comments.
• Use std::make_shared where we can.
• Replace two comparisons with empty string to empty().
• Make sure to include-what-you-use.
• Remove unnecessary internal method.
• Remove long-deprecated walkToTopParent overload.
• Contributors: Chris Lalancette

0.19.0 (2021-10-15)

• Remove unnecessary test dependencies.
• Remove some references to the ROS 1 wiki.
• Add rosidl_runtime_cpp as build_depend and build_export_depend.
• Minor cleanups in CMakeLists.txt.
• Remove include directory that doesn't exist.
• Remove completely unnecessary target_link_libraries.
• Remove unused speed_test from tf2.
• Suppress clang warnings about enumerator attributes. (#463)
• Change TF2Error names to be a bit more descriptive. (#349)
• Fixed errors due to missing header link. (#432)
• Contributors: Chris Lalancette, Shivam Pandey

0.18.0 (2021-06-01)

• Deprecate tf2_geometry_msgs.h (#418)
• Speedup covariance unwrapping (#399)
• Contributors: Chris Lalancette, Dima Dorezyuk

0.17.1 (2021-04-06)

• Change index.ros.org -> docs.ros.org. (#394)
• Contributors: Chris Lalancette

0.17.0 (2021-03-19)

0.16.0 (2021-01-25)

0.15.1 (2020-12-08)

0.15.0 (2020-11-02)

• Update maintainers of the ros2/geometry2 fork. (#328)
• Contributors: Chris Lalancette

0.14.1 (2020-09-21)

• Active usual compiler warnings in tf2 (#322)
• Cleanups in buffer_core.cpp. (#301)
• Add PoseWithCovarianceStamped transform support (#312)
• Contributors: Chris Lalancette, Ivan Santiago Paunovic, Joshua Whitley

0.14.0 (2020-08-14)

• Fix a TOCTTOU race in tf2. (#307)
• Fixed memory leak in Buffer::waitForTransform (#281)
• Add common linters to tf2. (#258)
• Contributors: Alejandro Hernández Cordero, Chris Lalancette, Martin Ganeff

0.13.4 (2020-06-03)

• Add missing virtual destructors (#272)
• Contributors: Ivan Santiago Paunovic

0.13.3 (2020-05-26)

0.13.2 (2020-05-18)

• Modify error message to not match the pattern for Jenkins MSBuild errors (#265)
• Contributors: Dirk Thomas

0.13.1 (2020-05-08)

• export modern CMake interface target (#263)
• Contributors: Dirk Thomas

0.13.0 (2020-04-30)

• Added doxyfiles and sphinx Makefiles (#257)
• Fix displayTimePoint truncation error (#253)
• rename rosidl_generator_cpp namespace to rosidl_runtime_cpp (#248)
• Use the new rcutils_strerror function. (#239)
• Remove unnecessary semicolons. (#235)
• Export all tf2 dependencies. (#238)
• Fix a deprecated copy warning by implementing the assignment operator (#201)
• tf2 add windows cmath constants (#217)
• Contributors: Alejandro Hernández Cordero, Chris Lalancette, Dirk Thomas, Hunter L. Allen, Michel Hidalgo, brawner

0.12.4 (2019-11-19)

0.12.3 (2019-11-18)

• Provide more available error messaging for nonexistent and invalid frames in canTransform (ros2 #187)
• Contributors: Emerson Knapp

0.12.2 (2019-11-18)

• Fix up -Wcast-qual warning (#193) (#197)
• Contributors: Chris Lalancette

0.12.1 (2019-10-23)

• Overwrite TimeCacheInterface type with a current input (#151)
• [tf2] Use ament_target_dependencies where possible
• Restore conversion via message traits (#167)
• Contributors: Jacob Perron, Michael Carroll, Vinnam Kim

0.12.0 (2019-09-26)

• Add pure virtual interface tf2::BufferCoreInterface
• Guard against invalid iterator (#127)
• Contributors: Jacob Perron

0.11.3 (2019-05-24)

0.11.2 (2019-05-20)

0.11.1 (2019-05-09)

0.11.0 (2019-04-14)

0.10.1 (2018-12-06)

0.10.0 (2018-11-22)

• Merge pull request #65 from bsinno/bugfix/fix_identity_transform_behaviour Fix bug in lookupTransform()
• Fix lookupTransform() behaviour when transforming from a frame to itself
• revert now unnecessary message initializations (#64)
• use console_bridge_vendor (#63)
• Contributors: Alessandro Bottero, Mikael Arguedas, Tully Foote

0.5.15 (2017-01-24)

0.5.14 (2017-01-16)

• fixes #194 check for quaternion normalization before inserting into storage (#196)
  • check for quaternion normalization before inserting into storage
  • Add test to check for transform failure on invalid quaternion input
• updating getAngleShortestPath() (#187)
• Move internal cache functions into a namespace Fixes https://github.com/ros/geometry2/issues/175
• Link properly to convert.h
• Landing page for tf2 describing the conversion interface
• Fix comment on BufferCore::MAX_GRAPH_DEPTH.
• Contributors: Jackie Kay, Phil Osteen, Tully Foote, alex, gavanderhoorn

0.5.13 (2016-03-04)

0.5.12 (2015-08-05)

• add utilities to get yaw, pitch, roll and identity transform
• provide more conversions between types The previous conversion always assumed that it was converting a non-message type to a non-message type. Now, one, both or none can be a message or a non-message.
• Contributors: Vincent Rabaud

0.5.11 (2015-04-22)

0.5.10 (2015-04-21)

• move lct_cache into function local memoryfor #92
• Clean up range checking. Re: #92
• Fixed chainToVector
• release lock before possibly invoking user callbacks. Fixes #91
• Contributors: Jackie Kay, Tully Foote

0.5.9 (2015-03-25)

• fixing edge case where two no frame id lookups matched in getLatestCommonTime
• Contributors: Tully Foote

0.5.8 (2015-03-17)

• change from default argument to overload to avoid linking issue #84
• remove useless Makefile files
• Remove unused assignments in max/min functions
• change _allFramesAsDot() -> _allFramesAsDot(double current_time)
• Contributors: Jon Binney, Kei Okada, Tully Foote, Vincent Rabaud

0.5.7 (2014-12-23)

0.5.6 (2014-09-18)

0.5.5 (2014-06-23)

• convert to use console bridge from upstream debian package https://github.com/ros/rosdistro/issues/4633
• Fix format string
• Contributors: Austin, Tully Foote

0.5.4 (2014-05-07)

• switch to boost signals2 following ros/ros_comm#267, blocking ros/geometry#23
• Contributors: Tully Foote

0.5.3 (2014-02-21)

0.5.2 (2014-02-20)

0.5.1 (2014-02-14)

0.5.0 (2014-02-14)

0.4.10 (2013-12-26)

• updated error message. fixes #38
• tf2: add missing console bridge include directories (fix #48)
• Fix const correctness of tf2::Vector3 rotate() method The method does not modify the class thus should be const. This has already been fixed in Bullet itself.
• Contributors: Dirk Thomas, Timo Rohling, Tully Foote

0.4.9 (2013-11-06)

0.4.8 (2013-11-06)

• moving python documentation to tf2_ros from tf2 to follow the code
• removing legacy rospy dependency. implementation removed in 0.4.0 fixes #27

0.4.7 (2013-08-28)

• switching to use allFramesAsStringNoLock inside of getLatestCommonTime and walkToParent and locking in public API _getLatestCommonTime instead re #23
• Fixes a crash in tf's view_frames related to dot code generation in allFramesAsDot

0.4.6 (2013-08-28)

• cleaner fix for #19
• fix pointer initialization. Fixes #19
• fixes #18 for hydro
• package.xml: corrected typo in description

0.4.5 (2013-07-11)

• adding _chainAsVector method for https://github.com/ros/geometry/issues/18
• adding _allFramesAsDot for backwards compatability https://github.com/ros/geometry/issues/18

0.4.4 (2013-07-09)

• making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change.
• tf2: Fixes a warning on OS X, but generally safer Replaces the use of pointers with shared_ptrs, this allows the polymorphism and makes it so that the compiler doesn't yell at us about calling delete on a class with a public non-virtual destructor.
• tf2: Fixes compiler warnings on OS X This exploited a gcc specific extension and is not C++ standard compliant. There used to be a "fix" for OS X which no longer applies. I think it is ok to use this as an int instead of a double, but another way to fix it would be to use a define.
• tf2: Fixes linkedit errors on OS X

0.4.3 (2013-07-05)

0.4.2 (2013-07-05)

• adding getCacheLength() to parallel old tf API
• removing legacy static const variable MAX_EXTRAPOLATION_DISTANCE copied from tf unnecessesarily

0.4.1 (2013-07-05)

• adding old style callback notifications to BufferCore to enable backwards compatability of message filters
• exposing dedicated thread logic in BufferCore and checking in Buffer
• more methods to expose, and check for empty cache before getting latest timestamp
• adding methods to enable backwards compatability for passing through to tf::Transformer

0.4.0 (2013-06-27)

• splitting rospy dependency into tf2_py so tf2 is pure c++ library.
• switching to console_bridge from rosconsole
• moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2
• Cleaning up unnecessary dependency on roscpp
• Cleaning up packaging of tf2 including: removing unused nodehandle fixing overmatch on search and replace cleaning up a few dependencies and linking removing old backup of package.xml making diff minimally different from tf version of library
• suppressing bullet LinearMath copy inside of tf2, so it will not collide, and should not be used externally.
• Restoring test packages and bullet packages. reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix #7
• fixing includes in unit tests
• Make PythonLibs find_package python2 specific On systems with python 3 installed and default, find_package(PythonLibs) will find the python 3 paths and libraries. However, the c++ include structure seems to be different in python 3 and tf2 uses includes that are no longer present or deprecated. Until the includes are made to be python 3 compliant, we should specify that the version of python found must be python 2.

0.3.6 (2013-03-03)

0.3.5 (2013-02-15 14:46)

• 0.3.4 -> 0.3.5

0.3.4 (2013-02-15 13:14)

• 0.3.3 -> 0.3.4
• moving LinearMath includes to include/tf2

0.3.3 (2013-02-15 11:30)

• 0.3.2 -> 0.3.3
• fixing include installation of tf2

0.3.2 (2013-02-15 00:42)

• 0.3.1 -> 0.3.2
• fixed missing include export & tf2_ros dependecy

0.3.1 (2013-02-14)

• 0.3.0 -> 0.3.1
• fixing PYTHON installation directory

0.3.0 (2013-02-13)

• switching to version 0.3.0
• adding setup.py to tf2 package
• fixed tf2 exposing python functionality
• removed line that was killing tf2_ros.so
• fixing catkin message dependencies
• removing packages with missing deps
• adding missing package.xml
• adding missing package.xml
• adding missing package.xml
• catkinizing geometry-experimental
• removing bullet headers from use in header files
• removing bullet headers from use in header files
• merging my recent changes
• setting child_frame_id overlooked in revision 6a0eec022be0 which fixed failing tests
• allFramesAsString public and internal methods seperated. Public method is locked, private method is not
• fixing another scoped lock
• fixing one scoped lock
• fixing test compilation
• merge
• Error message fix, ros-pkg5085
• Check if target equals to source before validation
• When target_frame == source_frame, just returns an identity transform.
• adding addition ros header includes for strictness
• Fixed optimized lookups with compound transforms
• Fixed problem in tf2 optimized branch. Quaternion multiplication order was incorrect
• fix compilation on 32-bit
• Josh fix: Final inverse transform composition (missed multiplying the sourcd->top vector by the target->top inverse orientation). b44877d2b054
• Josh change: fix first/last time case. 46bf33868e0d
• fix transform accumulation to parent
• fix parent lookup, now works on the real pr2's tree
• move the message filter to tf2_ros
• tf2::MessageFilter + tests. Still need to change it around to pass in a callback queue, since we're being triggered directly from the tf2 buffer
• Don't add the request if the transform is already available. Add some new tests
• working transformable callbacks with a simple (incomplete) test case
• first pass at a transformable callback api, not tested yet
• add interpolation cases
• fix getLatestCommonTime -- no longer returns the latest of any of the times
• Some more optimization -- allow findClosest to inline
• another minor speedup
• Minorly speed up canTransform by not requiring the full data lookup, and only looking up the parent
• Add explicit operator= so that we can see the time in it on a profile graph. Also some minor cleanup
• minor cleanup
• add 3 more cases to the speed test
• Remove use of btTransform at all from transform accumulation, since the conversion to/from is unnecessary, expensive, and can introduce floating point error
• Don't use btTransform as an intermediate when accumulating transforms, as constructing them takes quite a bit of time
• Completely remove lookupLists(). canTransform() now uses the same walking code as lookupTransform(). Also fixed a bug in the static transform publisher test
• Genericise the walk-to-top-parent code in lookupTransform so that it will be able to be used by canTransform as well (minus the cost of actually computing the transform)
• remove id lookup that wasn't doing anything
• Some more optimization:
  • Reduce # of TransformStorage copies made in TimeCache::getData()
  • Remove use of lookupLists from getLatestCommonTime
• lookupTransform() no longer uses lookupLists unless it's called with Time(0). Removes lots of object construction/destruction due to removal of pushing back on the lists
• Remove CompactFrameID in favor of a typedef
• these mode checks are no longer necessary
• Fix crash when testing extrapolation on the forward transforms
• Update cache unit tests to work with the changes TransformStorage. Also make sure that BT_USE_DOUBLE_PRECISION is set for tf2.
• remove exposure of time_cache.h from buffer_core.h
• Removed the mutex from TimeCache, as it's unnecessary (BufferCore needs to have its own mutex locked anyway), and this speeds things up by about 20% Also fixed a number of thread-safety problems
• Optimize test_extrapolation a bit, 25% speedup of lookupTransform
• use a hash map for looking up frame numbers, speeds up lookupTransform by ~8%
• Cache vectors used for looking up transforms. Speeds up lookupTransform by another 10%
• speed up lookupTransform by another 25%
• speed up lookupTransform by another 2x. also reduces the memory footprint of the cache significantly
• sped up lookupTransform by another 2x
• First add of a simple speed test Sped up lookupTransform 2x
• roscpp dependency explicit, instead of relying on implicit
• static transform tested and working
• tests passing and all throw catches removed too!
• validating frame_ids up front for lookup exceptions
• working with single base class vector
• tests passing for static storage
• making method private for clarity
• static cache implementation and test
• cleaning up API doc typos
• sphinx docs for Buffer
• new dox mainpage
• update tf2 manifest
• commenting out twist
• Changed cache_time to cache_time to follow C++ style guide, also initialized it to actually get things to work
• no more rand in cache tests
• Changing tf2_py.cpp to use underscores instead of camelCase
• removing all old converter functions from transform_datatypes.h
• removing last references to transform_datatypes.h in tf2
• transform conversions internalized
• removing unused datatypes
• copying bullet transform headers into tf2 and breaking bullet dependency
• merge
• removing dependency on tf
• removing include of old tf from tf2
• update doc
• merge
• kdl unittest passing
• Spaces instead of tabs in YAML grrrr
• Adding quotes for parent
• canTransform advanced ported
• Hopefully fixing YAML syntax
• new version of view_frames in new tf2_tools package
• testing new argument validation and catching bug
• Python support for debugging
• merge
• adding validation of frame_ids in queries with warnings and exceptions where appropriate
• Exposing ability to get frames as a string
• A compiling version of YAML debugging interface for BufferCore
• placeholder for tf debug
• fixing tf:: to tf2:: ns issues and stripping slashes on set in tf2 for backwards compatiabily
• Adding a python version of the BufferClient
• moving test to new package
• merging
• working unit test for BufferCore::lookupTransform
• removing unused method test and converting NO_PARENT test to new API
• Adding some comments
• Moving the python bindings for tf2 to the tf2 package from the tf2_py package
• buffercore tests upgraded
• porting tf_unittest while running incrmentally instead of block copy
• BufferCore::clear ported forward
• successfully changed lookupTransform advanced to new version
• switching to new implementation of lookupTransform tests still passing
• compiling lookupTransform new version
• removing tf_prefix from BufferCore. BuferCore is independent of any frame_ids. tf_prefix should be implemented at the ROS API level.
• initializing tf_prefix
• adding missing initialization
• suppressing warnings
• more tests ported
• removing tests for apis not ported forward
• setTransform tests ported
• old tests in new package passing due to backwards dependency. now for the fun, port all 1500 lines :-)
• setTransform working in new framework as well as old
• porting more methods
• more compatability
• bringing in helper functions for buffer_core from tf.h/cpp
• rethrowing to new exceptions
• converting Storage to geometry_msgs::TransformStamped
• removing deprecated useage
• cleaning up includes
• moving all implementations into cpp file
• switching test to new class from old one
• Compiling version of the buffer client
• moving listener to tf_cpp
• removing listener, it should be in another package
• most of listener
• add cantransform implementation
• removing deprecated API usage
• initial import of listener header
• move implementation into library
• 2 tests of buffer
• moving executables back into bin
• compiling again with new design
• rename tfcore to buffercore
• almost compiling version of template code
• compiling tf2_core simple test
• add test to start compiling
• copying in tf_unittest for tf_core testing template
• prototype of tf2_core implemented using old tf.
• first version of template functions
• remove timeouts
• properly naming tf2_core.h from tf_core.h
• working cache test with tf2 lib
• first unit test passing, not yet ported
• tf_core api
• tf2 v2
• aborting port
• moving across time cache tf and datatypes headers
• copying exceptions from tf
• switching to tf2 from tf_core