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ROS2 TF2 and Transform management with Clean Architecture (Python & C++)
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| name | ROS2 Transforms (TF2) |
| description | ROS2 TF2 and Transform management with Clean Architecture (Python & C++) |
This skill demonstrates how to use the ROS2 TF2 (Transform Library) while adhering to Clean Architecture principles. The Domain layer should be protected from direct TF2 dependencies by using Repository or Service patterns.
The domain layer should not depend on TF2 or geometry_msgs.
# domain/entities/pose.py
from dataclasses import dataclass
@dataclass
class Pose:
position: tuple # (x, y, z)
orientation: tuple # (x, y, z, w)
frame_id: str
timestamp: float
// domain/entities/pose.hpp
#pragma once
#include <string>
namespace domain::entities {
struct Point3D { double x, y, z; };
struct Quaternion { double x, y, z, w; };
struct Pose {
Point3D position;
Quaternion orientation;
std::string frame_id;
double timestamp;
};
} // namespace
TF2 implementation resides here.
See previous Python example.
// infrastructure/ros2/services/tf_service.hpp
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include "domain/interfaces/transform_service.hpp"
namespace infrastructure::ros2::services {
class TFService : public domain::interfaces::ITransformService {
public:
explicit TFService(rclcpp::Node::SharedPtr node);
std::optional<domain::entities::Pose> get_transform(
const std::string& target_frame,
const std::string& source_frame) override;
private:
rclcpp::Node::SharedPtr node_;
std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
};
} // namespace
// infrastructure/ros2/services/tf_service.cpp
#include "infrastructure/ros2/services/tf_service.hpp"
namespace infrastructure::ros2::services {
TFService::TFService(rclcpp::Node::SharedPtr node) : node_(node) {
tf_buffer_ = std::make_shared<tf2_ros::Buffer>(node_->get_clock());
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
}
std::optional<domain::entities::Pose> TFService::get_transform(
const std::string& target_frame,
const std::string& source_frame) {
try {
geometry_msgs::msg::TransformStamped t = tf_buffer_->lookupTransform(
target_frame, source_frame, tf2::TimePointZero);
return domain::entities::Pose{
{t.transform.translation.x, t.transform.translation.y, t.transform.translation.z},
{t.transform.rotation.x, t.transform.rotation.y, t.transform.rotation.z, t.transform.rotation.w},
t.header.frame_id,
rclcpp::Time(t.header.stamp).seconds()
};
} catch (const tf2::TransformException & ex) {
RCLCPP_WARN(node_->get_logger(), "Could not transform %s to %s: %s",
source_frame.c_str(), target_frame.c_str(), ex.what());
return std::nullopt;
}
}
} // namespace
// infrastructure/ros2/helpers/tf_publisher.hpp
#include <tf2_ros/static_transform_broadcaster.h>
class TFPublisher {
public:
TFPublisher(rclcpp::Node::SharedPtr node) : node_(node) {
static_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(node);
}
void publish_static(const std::string& parent, const std::string& child,
const std::array<double, 3>& trans,
const std::array<double, 4>& rot) {
geometry_msgs::msg::TransformStamped t;
t.header.stamp = node_->get_clock()->now();
t.header.frame_id = parent;
t.child_frame_id = child;
t.transform.translation.x = trans[0];
// ...
static_broadcaster_->sendTransform(t);
}
private:
rclcpp::Node::SharedPtr node_;
std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_broadcaster_;
};
tf2_ros.tf2::TransformException.Time(0)) for data synchronization when possible.Author a new asset for this .claude/ template — a rule, skill, slash command, or sub-agent — following the project's conventions and wiring it into the CLAUDE.md / README.md indexes. Trigger when the user wants to add or extend a command, skill, agent, or rule (make the template itself extensible).
Bootstrap a complete ROS 2 colcon workspace from scratch — directory layout, .gitignore, top-level README, this .claude/ config, an interfaces package and a first Clean Architecture package, and a bringup package. Trigger when the user asks to create a new workspace / start a new ROS 2 project from zero.
Scaffold a Behavior Tree leaf node — plain BehaviorTree.CPP (SyncActionNode / StatefulActionNode / ConditionNode) or a BehaviorTree.ROS2 wrapper (RosActionNode / RosServiceNode / RosTopicPubNode / RosTopicSubNode) — with ports, factory/plugin registration, and XML v4 usage. Trigger when the user asks to write a behavior-tree node (not Nav 2-specific).
Scaffold a ros2_control hardware component (SystemInterface / ActuatorInterface / SensorInterface) and its bringup — the plugin (on_init/on_configure/on_activate, RT-safe read()/write()), URDF <ros2_control> wiring, controllers.yaml + launch, pluginlib export. Trigger when the user asks to integrate hardware or bring up a robot under ros2_control.
Scaffold or extend a ros2_control controller or broadcaster (ControllerInterface / ChainableControllerInterface) — base-class choice, command/state interface configuration, lifecycle, real-time-safe update(), generate_parameter_library, pluginlib export, tests. Trigger when the user asks to write a ros2_control controller or broadcaster.
Bridge a VDA 5050 v3.0.0 fleet-control interface (MQTT/JSON) onto Nav 2 under Clean Architecture — domain entities, MQTT/Nav 2 adapters behind ports, order→NavigateThroughPoses mapping, state aggregation, action handlers. Trigger when the user asks to build or extend a VDA 5050 connector / fleet bridge.