tf2_ros_py: Add timeouts to async buffer interfaces #797
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Signed-off-by: Florian Vahl <[email protected]>
Signed-off-by: Florian Vahl <[email protected]>
Signed-off-by: Florian Vahl <[email protected]>
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This pull request has been mentioned on Open Robotics Discourse. There might be relevant details there: https://discourse.ros.org/t/ros-news-for-the-week-of-june-23rd-2025/44508/1 |
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What is holding this PR back at the moment? :) @clalancette |
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Description
In contrast to the blocking tf2 Buffer Python API the async one did not feature any timeouts, severely hindering real world usability, due to the risk of deadlocks. Sadly there is no async sleep or timeout build into
rclpy, so this PR adds a workaround using timers, which can be created with relatively low overhead. The issue is detailed in ros2/rclpy#1234 . The procedure from there is adapted to provide a timeout mechanism for tf. Due to the timers being created on the node, this only works when the optional node reference is provided.In addition to that, I noticed that the transform is actually accidentally computed twice in the current implementation. This can be attributed to #664 changing the API without making use of it in the lookup functions.
Related issue: #438
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