Enable StaticTransformBroadcaster in Intra-process enabled components (…

…ros2#607) * Update static_transform_broadcaster.h
roncapat · Jun 22, 2023 · edad1bc · edad1bc
1 parent dfb7eb5
commit edad1bc
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diff --git a/tf2_ros/include/tf2_ros/static_transform_broadcaster.h b/tf2_ros/include/tf2_ros/static_transform_broadcaster.h
@@ -66,6 +66,15 @@ class StaticTransformBroadcaster
         rclcpp::QosPolicyKind::Depth,
         rclcpp::QosPolicyKind::History,
         rclcpp::QosPolicyKind::Reliability};
+      /*
+        This flag disables intra-process communication while publishing to
+        /tf_static topic, when the StaticTransformBroadcaster is constructed
+        using an existing node handle which happens to be a component
+        (in rclcpp terminology).
+        Required until rclcpp intra-process communication supports
+        transient_local QoS durability.
+      */
+      options.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
       return options;
     } ())
     : StaticTransformBroadcaster(
@@ -87,6 +96,15 @@ class StaticTransformBroadcaster
         rclcpp::QosPolicyKind::Depth,
         rclcpp::QosPolicyKind::History,
         rclcpp::QosPolicyKind::Reliability};
+      /*
+        This flag disables intra-process communication while publishing to
+        /tf_static topic, when the StaticTransformBroadcaster is constructed
+        using an existing node handle which happens to be a component
+        (in rclcpp terminology).
+        Required until rclcpp intra-process communication supports
+        transient_local QoS durability.
+      */
+      options.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
       return options;
     } ())
   {

diff --git a/tf2_ros/test/test_static_transform_broadcaster.cpp b/tf2_ros/test/test_static_transform_broadcaster.cpp
@@ -50,6 +50,22 @@ class CustomNode : public rclcpp::Node
   std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tf_broadcaster_;
 };
 
+class CustomComposableNode : public rclcpp::Node
+{
+public:
+  explicit CustomComposableNode(const rclcpp::NodeOptions & options)
+  : rclcpp::Node("tf2_ros_test_static_transform_broadcaster_composable_node", options)
+  {}
+
+  void init_tf_broadcaster()
+  {
+    tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(shared_from_this());
+  }
+
+private:
+  std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tf_broadcaster_;
+};
+
 TEST(tf2_test_static_transform_broadcaster, transform_broadcaster_rclcpp_node)
 {
   auto node = rclcpp::Node::make_shared("tf2_ros_message_filter");
@@ -70,6 +86,15 @@ TEST(tf2_test_static_transform_broadcaster, transform_broadcaster_rclcpp_node)
   }
 }
 
+TEST(tf2_test_static_transform_broadcaster, transform_broadcaster_with_intraprocess)
+{
+  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::NodeOptions options;
+  options = options.use_intra_process_comms(true);
+  auto custom_node = std::make_shared<CustomComposableNode>(options);
+  custom_node->init_tf_broadcaster();
+}
+
 TEST(tf2_test_static_transform_broadcaster, transform_broadcaster_custom_rclcpp_node)
 {
   auto node = std::make_shared<NodeWrapper>("tf2_ros_message_filter");