def waitForTransform(self,
target_frame,
source_frame,
time,
timeout,
polling_sleep_duration=None):
if not self._using_dedicated_thread:
raise tf2_ros.TransformException(
"cannot wait for transform without a dedicated thread that listens to incoming TF messages"
)
can_transform, error_msg = self._buffer.can_transform(
strip_leading_slash(target_frame),
strip_leading_slash(source_frame),
time,
timeout,
return_debug_tuple=True)
if not can_transform:
raise tf2_ros.TransformException(
error_msg or "no such transformation: \"%s\" -> \"%s\"" %
(source_frame, target_frame))
def translate(obj, *args, **kwargs):
try:
return_value = method(obj, *args, **kwargs)
return return_value
except client_binding.ConnectivityException as e:
raise tf2_ros.ConnectivityException(str(e))
except client_binding.ExtrapolationException as e:
raise tf2_ros.ExtrapolationException(str(e))
except client_binding.LookupException as e:
raise tf2_ros.LookupException(str(e))
except client_binding.ExtrapolationException as e:
raise tf2_ros.ExtrapolationException(str(e))
except client_binding.InvalidArgumentException as e:
raise tf2_ros.InvalidArgumentException(str(e))
except client_binding.TimeoutException as e:
raise tf2_ros.TimeoutException(str(e))
except client_binding.TransformException as e:
raise tf2_ros.TransformException(str(e))