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Upgrade roslibrust_transforms to transforms v2.1 #338

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4 changes: 4 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -9,12 +9,16 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

### Added

- roslibrust_transforms gained `latest_common_time()` for looking up the newest time a transform can be served, and `remove_frame()` for removing a frame from the local buffer (e.g. to allow re-parenting it).

### Fixed

- @JesseGuillory-CM removed several panics and poor error handling from rosbridge client.

### Changed

- Upgraded roslibrust_transforms to transforms v2.1. Static transforms are now represented by `Stamp::Static` instead of a zero timestamp, transforms are built with `Transform::new` / `Transform::static_between` instead of struct literals, and `add_transform()` publishes static transforms to /tf_static automatically, replacing `update_static_transform()`. Invalid or conflicting transforms received over the wire are now dropped with a warning instead of silently corrupting the buffer.

## 0.21.0 - May 19th, 2026

### Added
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22 changes: 17 additions & 5 deletions Cargo.lock
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3 changes: 1 addition & 2 deletions roslibrust_transforms/Cargo.toml
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Expand Up @@ -13,13 +13,12 @@ keywords = ["ROS", "robotics", "tf2", "transforms", "coordinates"]
roslibrust_common = { path = "../roslibrust_common", version = "0.21" }
# roslibrust is needed because the macro-generated code references ::roslibrust::
roslibrust = { path = "../roslibrust", version = "0.21", features = ["macro", "codegen"] }
transforms = "1.2"
transforms = "2.1"
tokio = { workspace = true }
log = { workspace = true }
thiserror = "2.0"
serde = { workspace = true }
tokio-util = "0.7"
chrono = "0.4"

[dev-dependencies]
env_logger = "0.11"
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57 changes: 28 additions & 29 deletions roslibrust_transforms/README.md
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Expand Up @@ -21,17 +21,17 @@ roslibrust_transforms = "0.1"
### Basic Example

```rust
use roslibrust_transforms::{TransformManager, Ros1TFMessage};
use roslibrust_transforms::{TransformManager, Ros1TFMessage, Timestamp};

async fn example(ros: impl roslibrust_common::TopicProvider + Clone + Send + Sync + 'static) {
// Create a TransformManager (subscribes to /tf and /tf_static automatically)
let manager = TransformManager::<Ros1TFMessage, _>::new(&ros).await.unwrap();
let manager = TransformManager::<Ros1TFMessage, _>::new(&ros, std::time::Duration::from_secs(10)).await.unwrap();

// Look up a transform
let transform = manager.lookup_latest_transform("base_link", "camera_link").await.unwrap();
let transform = manager.get_transform("base_link", "camera_link", Timestamp::now()).await.unwrap();

println!("Translation: {:?}", transform.translation);
println!("Rotation: {:?}", transform.rotation);
println!("Translation: {:?}", transform.translation());
println!("Rotation: {:?}", transform.rotation());
}
```

Expand All @@ -41,38 +41,37 @@ The only difference is the message type parameter:

```rust
// ROS1
let manager = TransformManager::<Ros1TFMessage, _>::new(&ros).await?;
let manager = TransformManager::<Ros1TFMessage, _>::new(&ros, std::time::Duration::from_secs(10)).await?;

// ROS2
let manager = TransformManager::<Ros2TFMessage, _>::new(&ros).await?;
let manager = TransformManager::<Ros2TFMessage, _>::new(&ros, std::time::Duration::from_secs(10)).await?;
```

### Publishing Transforms

```rust
use roslibrust_transforms::{TransformManager, Ros1TFMessage, Transform, Timestamp};
use roslibrust_transforms::{TransformManager, Ros1TFMessage, Stamp, Timestamp, Transform, Quaternion, Vector3};

async fn broadcast_example(ros: impl roslibrust_common::TopicProvider + Clone + Send + Sync + 'static) {
let manager = TransformManager::<Ros1TFMessage, _>::new(&ros).await.unwrap();

// Create and publish a dynamic transform
let transform = Transform {
parent_frame: "world".to_string(),
child_frame: "robot".to_string(),
translation: Default::default(),
rotation: Default::default(),
timestamp: Timestamp::now(),
};
manager.update_transform(transform).await.unwrap();

// Or publish a static transform
let static_tf = Transform {
parent_frame: "robot".to_string(),
child_frame: "sensor".to_string(),
translation: Default::default(),
rotation: Default::default(),
timestamp: Timestamp::now(), // Will be set to zero internally
};
manager.update_static_transform(static_tf).await.unwrap();
let manager = TransformManager::<Ros1TFMessage, _>::new(&ros, std::time::Duration::from_secs(10)).await.unwrap();

// Create and publish a dynamic transform, published on /tf
let transform = Transform::new(
"world",
"robot",
Vector3::new(1.0, 0.0, 0.0),
Quaternion::identity(),
Stamp::At(Timestamp::now()),
).unwrap();
manager.add_transform(transform).await.unwrap();

// Static transforms are valid for all time, and are published on /tf_static
let static_tf = Transform::static_between(
"robot",
"sensor",
Vector3::new(0.1, 0.0, 0.5),
Quaternion::identity(),
).unwrap();
manager.add_transform(static_tf).await.unwrap();
}
```
41 changes: 25 additions & 16 deletions roslibrust_transforms/examples/ros1.rs
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Expand Up @@ -22,7 +22,7 @@

use std::time::Duration;

use roslibrust_transforms::{Ros1TFMessage, Timestamp, TransformManager};
use roslibrust_transforms::{Ros1TFMessage, Stamp, Timestamp, TransformManager};

use log::*;

Expand Down Expand Up @@ -57,30 +57,39 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
// Try to look up a transform from "world" to "base_link"
match manager.get_transform("world", "base_link", Timestamp::now()).await {
Ok(transform) => {
let translation = transform.translation();
info!(
"Transform world -> base_link: translation=({:.3}, {:.3}, {:.3})",
transform.translation.x,
transform.translation.y,
transform.translation.z
translation.x,
translation.y,
translation.z
);
}
Err(e) => {
warn!("Could not look up transform: {}", e);
}
}

// Also try looking up with a specific timestamp (for static transforms, use zero)
match manager.get_transform("world", "base_link", Timestamp::zero()).await {
Ok(transform) => {
info!(
"Static transform world -> base_link: translation=({:.3}, {:.3}, {:.3})",
transform.translation.x,
transform.translation.y,
transform.translation.z
);
}
Err(_) => {
// Static transform not available yet
// Also look up the newest transform the local buffer can serve
if let Ok(latest) = manager.latest_common_time("world", "base_link").await {
let time = match latest {
Stamp::At(time) => time,
// Frames connected by static transforms only can be looked up at any time
Stamp::Static => Timestamp::now(),
};
match manager.get_transform("world", "base_link", time).await {
Ok(transform) => {
let translation = transform.translation();
info!(
"Latest transform world -> base_link: translation=({:.3}, {:.3}, {:.3})",
translation.x,
translation.y,
translation.z
);
}
Err(e) => {
warn!("Could not look up latest transform: {}", e);
}
}
}
}
Expand Down
41 changes: 25 additions & 16 deletions roslibrust_transforms/examples/ros2_rosbridge.rs
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Expand Up @@ -23,7 +23,7 @@
use std::time::Duration;

use roslibrust_rosbridge::ClientHandle;
use roslibrust_transforms::{Ros2TFMessage, Timestamp, TransformManager};
use roslibrust_transforms::{Ros2TFMessage, Stamp, Timestamp, TransformManager};

#[tokio::main]
async fn main() -> Result<(), Box<dyn std::error::Error>> {
Expand Down Expand Up @@ -55,30 +55,39 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
// Try to look up a transform from "world" to "base_link"
match manager.get_transform("world", "base_link", Timestamp::now()).await {
Ok(transform) => {
let translation = transform.translation();
log::info!(
"Transform world -> base_link: translation=({:.3}, {:.3}, {:.3})",
transform.translation.x,
transform.translation.y,
transform.translation.z
translation.x,
translation.y,
translation.z
);
}
Err(e) => {
log::warn!("Could not look up transform: {}", e);
}
}

// Also try looking up with a specific timestamp (for static transforms, use zero)
match manager.get_transform("world", "base_link", Timestamp::zero()).await {
Ok(transform) => {
log::info!(
"Static transform world -> base_link: translation=({:.3}, {:.3}, {:.3})",
transform.translation.x,
transform.translation.y,
transform.translation.z
);
}
Err(_) => {
// Static transform not available yet
// Also look up the newest transform the local buffer can serve
if let Ok(latest) = manager.latest_common_time("world", "base_link").await {
let time = match latest {
Stamp::At(time) => time,
// Frames connected by static transforms only can be looked up at any time
Stamp::Static => Timestamp::now(),
};
match manager.get_transform("world", "base_link", time).await {
Ok(transform) => {
let translation = transform.translation();
log::info!(
"Latest transform world -> base_link: translation=({:.3}, {:.3}, {:.3})",
translation.x,
translation.y,
translation.z
);
}
Err(e) => {
log::warn!("Could not look up latest transform: {}", e);
}
}
}
}
Expand Down
28 changes: 14 additions & 14 deletions roslibrust_transforms/examples/shared_manager.rs
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Expand Up @@ -10,7 +10,7 @@ use log::*;
// Example uses the mock backend for simplicity in running / testing, but any backend can be used
use roslibrust::mock::MockRos;
use roslibrust_transforms::{
Quaternion, Ros1TFMessage, Timestamp, Transform, TransformManager, Vector3,
Quaternion, Ros1TFMessage, Stamp, Timestamp, Transform, TransformManager, Vector3,
};

#[tokio::main]
Expand All @@ -34,16 +34,15 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
info!("Publishing transform...");
// Because of internal mutability, add_transform() doesn't require `&mut self`
// So you don't need to use Mutex<T> or RefCell<T> to share the manager
tf_mgr2
.add_transform(Transform {
parent: "world".to_string(),
child: "robot".to_string(),
translation: Vector3::new(x, 0.0, 0.0),
rotation: Quaternion::identity(),
timestamp: Timestamp::now(),
})
.await
.unwrap();
let transform = Transform::new(
"world",
"robot",
Vector3::new(x, 0.0, 0.0),
Quaternion::identity(),
Stamp::At(Timestamp::now()),
)
.unwrap();
tf_mgr2.add_transform(transform).await.unwrap();
x += 1.0;
}
});
Expand All @@ -65,10 +64,11 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
xform = tf_mgr.wait_for_transform("world", "robot", lookup, None) => {
match xform {
Ok(xform) => {
let translation = xform.translation();
info!("Transform: translation=({:.3}, {:.3}, {:.3})",
xform.translation.x,
xform.translation.y,
xform.translation.z
translation.x,
translation.y,
translation.z
);
}
Err(e) => {
Expand Down
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