tf2 library for ros2_rust

[DS3a]

Is there a tf2 implementation for ros2_rust? or has it been implemented on a separate package? I'm new to this so I'm not sure if the transform library comes with RCL? If it does. Does it have rust bindings?

[esteve]

@DS3a thanks for your interest in ros2-rust! At the moment, there's no tf2 package for ros2-rust, a straightforward version could just wrap the existing C++ implementation in Rust. Would you like to contribute one? We'd be very happy to help you with it.

[DS3a]

I'd be glad to contribute a tf2 package for ros2-rust... Although I think it might be better to keep most of the code in Rust instead of wrapping it around C++. Especially since the ROS client library does not come with it. Do let me know what you think, and how I should proceed.

[esteve]

It'll be tricky to do a full integration of tf2 and ros2-rust, as the infrastructure is not entirely there yet. For example ros2-rust does not support actions, clocks or timers yet, which are essential for tf2, that's why I suggested wrapping tf2 for now (here's how it was done for rcldotnet https://github.com/IntelligentRoboticsLabs/geometry2/tree/rcldotnet)

If you'd like to implement the full integration, we'd be more than happy to accept contributions for the aforementioned features in ros2-rust 🙂

[DS3a]

Ohh, okay. That makes sense. I'll look into adding support for timers (#121). And hopefully move to the other dependencies and move to the full integration after that.

[Yadunund]

@DS3a did you get around to implementing the Rust wrapper for tf2?

[DS3a]

Nope. Sorry, I got busy with other stuff