From georg.bartels at cs.uni-bremen.de  Tue Feb  3 13:45:09 2015
From: georg.bartels at cs.uni-bremen.de (Georg Bartels)
Date: Tue, 03 Feb 2015 13:45:09 +0100
Subject: [cram-developers] cl-tf2 problems
In-Reply-To: <7D974F8B-7A15-424D-AC8B-36262E6A0881@cs.uni-bremen.de>
References: <CAATOrWmgznMGJMuJ5NGq+-PTHD6OVUCuYsdpZfRNOrBZE9tXug@mail.gmail.com>
	<7D974F8B-7A15-424D-AC8B-36262E6A0881@cs.uni-bremen.de>
Message-ID: <54D0C2D5.50600@cs.uni-bremen.de>

Hi all,

I believe Jan is refering to this node:

rosrun tf2_ros buffer_server

It listens to the tf2 topics (dynamic and static), and offers an action
interface to query for transforms. CL-TF2 uses this interface.

Cheers,
Georg.

On 01/30/2015 05:22 PM, Jan Winkler wrote:
> Hey there,
> 
> I'm not sure about what exactly to start, but a tf2 topic has to be present on the current ROS master. Just grep for tf2 in rostopic list - it should show (I think) "/tf2_buffer_server", and "/tf2". Again, I'm not in front of a computer right now, so hopefully those are correct.
> 
> Did you start the ROS node? Because the action server is connected via a ROS init function.
> 
> So far from my side,
> Cheers,
> Jan
> 
> 
>> On 30.01.2015, at 14:46, Gayane Kazhoyan <gaya at cs.uni-bremen.de> wrote:
>>
>> Dear CRAM developers,
>>
>> After the recent change from TF to TF2 in our repositories, resolving location designators stopped working for me. The reason is the broken LOOKUP-TRANSFORM function call, which throws the following error: "Not connected to an action server. Cannot send goal."
>>
>> My question is: is there anything one needs to explicitly change in their own code due to the switch to TF2? As TF2 works through action calls, do I need to start the action server by myself and how do I do this? As most of this changes have been made during the two weeks of Christmas and New Year's it's hard for me to track the changes in the repositories. Any help?
>>
>> Thanks in advance.
>> Gaya
>>
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