robokudo.io.tf_listener_proxy¶
Transform listener proxy for RoboKudo.
This module provides a singleton proxy for ROS transform listeners. It ensures that only one transform listener instance is created per node, which is important because:
The tf_static topic is latched and requires a single listener
Multiple listeners in one node can cause buffer synchronization issues
Transform lookups are more efficient with a shared listener
The module maintains a single global instance that can be accessed by all components needing transform information.
Attributes¶
Functions¶
|
A singleton-like TransformListener instance. |
Module Contents¶
- robokudo.io.tf_listener_proxy.this¶
- robokudo.io.tf_listener_proxy.instance(node)¶
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A singleton-like TransformListener instance.
In ROS 2, a single TransformListener is recommended per node to ensure proper handling of the tf_static topic. Use this instance to access the tf_buffer.
- Parameters:
-
node (rclpy.node.Node) – The ROS 2 node that will own the TransformListener.
- Returns:
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The tf_buffer associated with the TransformListener.
- Return type:
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tf2_ros.Buffer