add support for missing tf2_geometry_msgs message types

ika-rwth-aachen · Apr 12, 2023 · 39a36c9 · 39a36c9
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diff --git a/README.md b/README.md
@@ -96,6 +96,9 @@ The *message_tf_frame_transformer* package is able to support any ROS message ty
 | --- | --- |
 | [`geometry_msgs/PointStamped`](https://docs.ros.org/en/api/geometry_msgs/html/msg/PointStamped.html) | [`geometry_msgs/msg/PointStamped`](https://docs.ros2.org/foxy/api/geometry_msgs/msg/PointStamped.html) |
 | [`geometry_msgs/PoseStamped`](https://docs.ros.org/en/api/geometry_msgs/html/msg/PoseStamped.html) | [`geometry_msgs/msg/PoseStamped`](https://docs.ros2.org/foxy/api/geometry_msgs/msg/PoseStamped.html) |
+| [`geometry_msgs/PoseWithCovarianceStamped`](https://docs.ros.org/en/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html) | [`geometry_msgs/msg/PoseWithCovarianceStamped`](https://docs.ros2.org/foxy/api/geometry_msgs/msg/PoseWithCovarianceStamped.html) |
+| [`geometry_msgs/QuaternionStamped`](https://docs.ros.org/en/api/geometry_msgs/html/msg/QuaternionStamped.html) | [`geometry_msgs/msg/QuaternionStamped`](https://docs.ros2.org/foxy/api/geometry_msgs/msg/QuaternionStamped.html) |
+| [`geometry_msgs/TransformStamped`](https://docs.ros.org/en/api/geometry_msgs/html/msg/TransformStamped.html) | [`geometry_msgs/msg/TransformStamped`](https://docs.ros2.org/foxy/api/geometry_msgs/msg/TransformStamped.html) |
 | [`geometry_msgs/Vector3Stamped`](https://docs.ros.org/en/api/geometry_msgs/html/msg/Vector3Stamped.html) | [`geometry_msgs/msg/Vector3Stamped`](https://docs.ros2.org/foxy/api/geometry_msgs/msg/Vector3Stamped.html) |
 | [`geometry_msgs/WrenchStamped`](https://docs.ros.org/en/api/geometry_msgs/html/msg/WrenchStamped.html) | [`geometry_msgs/msg/WrenchStamped`](https://docs.ros2.org/foxy/api/geometry_msgs/msg/WrenchStamped.html) |
 | [`sensor_msgs/PointCloud2`](http://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html) | [`sensor_msgs/msg/PointCloud2`](https://docs.ros2.org/foxy/api/sensor_msgs/msg/PointCloud.html) |

diff --git a/include/message_tf_frame_transformer/message_types.h b/include/message_tf_frame_transformer/message_types.h
@@ -3,6 +3,9 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <geometry_msgs/QuaternionStamped.h>
+#include <geometry_msgs/TransformStamped.h>
 #include <geometry_msgs/Vector3Stamped.h>
 #include <geometry_msgs/WrenchStamped.h>
 

diff --git a/include/message_tf_frame_transformer/message_types.macro b/include/message_tf_frame_transformer/message_types.macro
@@ -15,6 +15,9 @@ Example:
 
 MESSAGE_TYPE(geometry_msgs::PointStamped)
 MESSAGE_TYPE(geometry_msgs::PoseStamped)
+MESSAGE_TYPE(geometry_msgs::PoseWithCovarianceStamped)
+MESSAGE_TYPE(geometry_msgs::QuaternionStamped)
+MESSAGE_TYPE(geometry_msgs::TransformStamped)
 MESSAGE_TYPE(geometry_msgs::Vector3Stamped)
 MESSAGE_TYPE(geometry_msgs::WrenchStamped)
 

diff --git a/include/message_tf_frame_transformer/message_types.ros2.hpp b/include/message_tf_frame_transformer/message_types.ros2.hpp
@@ -3,6 +3,9 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <geometry_msgs/msg/point_stamped.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
+#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
+#include <geometry_msgs/msg/quaternion_stamped.hpp>
+#include <geometry_msgs/msg/transform_stamped.hpp>
 #include <geometry_msgs/msg/vector3_stamped.hpp>
 #include <geometry_msgs/msg/wrench_stamped.hpp>
 

diff --git a/include/message_tf_frame_transformer/message_types.ros2.macro b/include/message_tf_frame_transformer/message_types.ros2.macro
@@ -15,6 +15,9 @@ Example:
 
 MESSAGE_TYPE(geometry_msgs::msg::PointStamped, geometry_msgs/msg/PointStamped)
 MESSAGE_TYPE(geometry_msgs::msg::PoseStamped, geometry_msgs/msg/PoseStamped)
+MESSAGE_TYPE(geometry_msgs::msg::PoseWithCovarianceStamped, geometry_msgs/msg/PoseWithCovarianceStamped)
+MESSAGE_TYPE(geometry_msgs::msg::QuaternionStamped, geometry_msgs/msg/QuaternionStamped)
+MESSAGE_TYPE(geometry_msgs::msg::TransformStamped, geometry_msgs/msg/TransformStamped)
 MESSAGE_TYPE(geometry_msgs::msg::Vector3Stamped, geometry_msgs/msg/Vector3Stamped)
 MESSAGE_TYPE(geometry_msgs::msg::WrenchStamped, geometry_msgs/msg/WrenchStamped)