Changelog for package dynamic_tf_publisher

3.0.0 (2026-10-29)

• Merge pull request #1826 from k-okada/ros2-support Add ROS2 support to jsk_ros1_ros2_compat, dynamic_tf_publisher, jsk_topic_tools, jsk_tools, audio_video_recorder, jsk_data, image_view2, jsk_rosbag_tools

• [dynamic_tf_publisher] add ROS2 support Single package.xml/CMakeLists.txt branched on $ROS_VERSION, and each of tf_publish.py/tf_set.py/tf_reconfigure_publisher.py rewritten as a single ROS1/ROS2 dual-support file built on the tf2_ros-based ROS1 code from the previous commit, so the tf-handling logic itself does not need to be duplicated between the two versions:

  - Uses jsk_ros1_ros2_compat's rospy_rclpy_compat.py (get_param, log*, create_service, ...) rather than a local copy.

  - CMakeLists.txt: uses rosidl_auto_generate_interfaces() for the ROS2 message/service generation, sharing the install() script list with ROS1's catkin_install_python(). ROS1-original lines inside the if("$ENV{ROS_VERSION}" ...) blocks are left at their original indentation to minimize diff against master.

  - srv/*.srv: Header -> std_msgs/Header (ROS2 rosidl requires explicit package-qualification; equally valid under ROS1).

  - Service callbacks (set_tf/assoc/dissoc/delete/publish_tf) keep their original req/res-style argument names, threading.Lock()-based locking, and try/except structure -- all ROS-version-independent and so left unchanged from the ROS1 original rather than rewritten.

  - tf_reconfigure_publisher.py's ROS2 parameter read is a small helper (_ros2_config()) that reuses the same callback() as ROS1's dynamic_reconfigure path, instead of duplicating its body.

  - Not carried over to the ROS2 code path (ROS1-only, documented in tf_publish.py): the YAML-serialized-parameter restart cache and the wait_for_service-based already-running singleton guard.

  - test/tf_publish_launch_test.py: launch_testing coverage for the ROS2 path (SetDynamicTF followed by a tf2 lookup_transform).

  - AMENT_IGNORE removed so this package builds under ROS2 (jsk_coordi nation_system currently contains only this one package). Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

• msg/srv: qualify Header field with std_msgs/ package ROS2's rosidl_adapter requires message-type fields to be fully package-qualified, rejecting the bare [Header]{.title-ref} spelling ROS1's message generator has allowed since Header moved from roslib into std_msgs (REP 100: https://github.com/ros-infrastructure/rep/blob/master/rep-0100.rst). Affects dynamic_tf_publisher's AssocTF/DeleteTF/DissocTF.srv and image_view2's MouseEvent.msg/PointArrayStamped.msg. Safe for ROS1: genmsg normalizes a bare [Header]{.title-ref} field to [std_msgs/Header]{.title-ref} before computing a message/service's MD5 sum (genmsg/msgs.py's resolve_type()), so this text-level change does not change the wire-level type or the computed MD5. Verified directly with genmsg.gentools.compute_md5() on all five files, before and after this change: identical MD5 both ways (also holds regardless of the field's original double-space vs single-space separator). Kept as its own commit, ahead of ROS2 support proper, since it needs no ROS2-specific code to be correct or complete.

• [dynamic_tf_publisher] migrate tf_publish.py/tf_reconfigure_publisher.py from tf to tf2_ros tf.TransformListener/tf.TransformBroadcaster are tf1 APIs; tf2_ros provides the same functionality and is available under ROS1 too, so this is a standalone ROS1-only change, independent of ROS2 support:

  - tf_publish.py: tf.TransformListener + waitForTransform/lookupTransform -> tf2_ros.Buffer + TransformListener, using a single lookup_transform call (its timeout argument already blocks until the transform is available, same as the old wait+lookup pair). The /tf publisher switches from tf.msg.tfMessage to tf2_msgs.msg.TFMessage, which is wire-compatible (identical fields/md5sum).

  - tf_reconfigure_publisher.py: tf.TransformBroadcaster -> tf2_ros.Trans formBroadcaster, which only accepts a TransformStamped (no more positional translation/rotation/time/child/parent sendTransform).

  - tf_set.py is unaffected: it only uses tf.transformations (pure quaternion math, not part of the tf1/tf2 pub-sub API), so it keeps its [tf]{.title-ref} dependency.

  - package.xml: add tf2_ros/tf2_msgs as build/exec_depend alongside the existing tf dependency. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

• Contributors: Kei Okada

2.2.16 (2025-01-06)

2.2.15 (2024-12-13)

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