/usr/include/tf2_ros/buffer_server.h is in libtf2-ros-dev 0.5.13-5.
This file is owned by root:root, with mode 0o644.
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*
* Software License Agreement (BSD License)
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* Copyright (c) 2009, Willow Garage, Inc.
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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef TF2_ROS_BUFFER_SERVER_H_
#define TF2_ROS_BUFFER_SERVER_H_
#include <actionlib/server/action_server.h>
#include <tf2_msgs/LookupTransformAction.h>
#include <geometry_msgs/TransformStamped.h>
#include <tf2_ros/buffer.h>
namespace tf2_ros
{
class BufferServer
{
private:
typedef actionlib::ActionServer<tf2_msgs::LookupTransformAction> LookupTransformServer;
typedef LookupTransformServer::GoalHandle GoalHandle;
struct GoalInfo
{
GoalHandle handle;
ros::Time end_time;
};
public:
BufferServer(const Buffer& buffer, const std::string& ns,
bool auto_start = true, ros::Duration check_period = ros::Duration(0.01));
void start();
private:
void goalCB(GoalHandle gh);
void cancelCB(GoalHandle gh);
void checkTransforms(const ros::TimerEvent& e);
bool canTransform(GoalHandle gh);
geometry_msgs::TransformStamped lookupTransform(GoalHandle gh);
const Buffer& buffer_;
LookupTransformServer server_;
std::list<GoalInfo> active_goals_;
boost::mutex mutex_;
ros::Timer check_timer_;
};
}
#endif
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