autoware_utils_tf

Overview

The autoware_utils library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications. This package provides essential utilities for transform. It is extensively used in the Autoware project to handle common tasks such as managing transform listener and vehicle transform.

Design

• transform_listener.hpp: Manages transformation listeners.
• self_pose_listener.hpp: Listens to the self-pose of the vehicle.

Changelog for package autoware_utils_tf

1.11.0 (2026-09-17)

• feat(autoware_utils_tf): templatize SelfPoseListener on the node type (#121)

  * feat(autoware_utils_tf): templatize SelfPoseListener on the node type TransformListenerT already takes the node, buffer and listener types, but SelfPoseListener stayed fixed to rclcpp::Node, so a node on an AgnocastOnly executor could not reach it. wait_for_first_pose() also takes the liveness check as an argument. Its default asks rclcpp, which is the wrong context for such a node: rclcpp::ok() is false from the start there and the wait would return without a pose. Callers are unchanged: SelfPoseListener stays as the rclcpp instantiation and the wait keeps its old behaviour when called with no argument.

  * chore(autoware_utils_tf): keep the original copyright header ---------

• Contributors: Koichi Imai

1.10.0 (2026-08-17)

1.9.0 (2026-06-29)

• fix(autoware_utils_tf): delete to call SetCreateTimer in tf2_ros path (#114) delete to call CreateTimerInterface
• Contributors: Koichi Imai

1.8.0 (2026-06-10)

• feat(transform_listener): templatize [TransformListener]{.title-ref} for both [rclcpp::Node]{.title-ref} and [agnocast_wrapper::Node]{.title-ref} (#109)

  • templatize buffer
  • define another class
  • fix to use shared_ptr
  • templatize TransformListener

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• Contributors: Koichi Imai

1.7.2 (2026-05-01)

• fix: to be consistent version in all package.xml(s)

• fix(autoware_utils_tf): update tf2 ros header (#90)

  • fix(autoware_utils_tf): update tf2 ros header

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• Contributors: Daisuke Nishimatsu, github-actions

1.7.0 (2026-03-12)

1.6.0 (2026-02-20)

1.5.0 (2025-12-30)

• Replace ament_target_dependencies with target_link_libraries (#69)
• Contributors: Alejandro Hernández Cordero

1.4.2 (2025-05-21)

1.4.1 (2025-05-15)

1.4.0 (2025-04-22)

1.3.0 (2025-03-21)

• unify version

• update changelog

• feat(autoware_utils_tf): split package (#49)

  • feat(autoware_utils_geometry): split package
  • compatibility header
  • rename namespace
  • fix namespace
  • feat(autoware_utils_tf): split package
  • fix path
  • fix include path
  • move header

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