Transform between same frames always exist, even when frame ids are empty strings
Open
@mjcarroll is already working on this.
Since Jun 26, 2025.
bug
- Dominant language
- C++
- Stars
- 153
- Forks
- 256
- Avg merge
- 3d 23h
- Merged PRs (30d)
- 14
Description
Generated by Generative AI
No response
Operating System:
Linux lightweight 5.15.88-051588-generic #202301141034 SMP Sat Jan 14 10:39:07 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux
ROS version or commit hash:
humble
RMW implementation (if applicable):
No response
RMW Configuration (if applicable):
No response
Client library (if applicable):
rclcpp
'ros2 doctor --report' output
ros2 doctor --report
NETWORK CONFIGURATION
inet : 127.0.0.1
inet4 : ['127.0.0.1']
inet6 : ['::1']
netmask : 255.0.0.0
device : lo
flags : 73<LOOPBACK,UP,RUNNING>
mtu : 65536
inet : 172.17.0.3
inet4 : ['172.17.0.3']
ether : 36:76:1d:a9:52:d1
netmask : 255.255.0.0
device : eth0
flags : 4163<MULTICAST,UP,BROADCAST,RUNNING>
mtu : 1500
broadcast : 172.17.255.255
PLATFORM INFORMATION
system : Linux
platform info : Linux-5.15.88-051588-generic-x86_64-with-glibc2.35
release : 5.15.88-051588-generic
processor : x86_64
QOS COMPATIBILITY LIST
compatibility status : No publisher/subscriber pairs found
RMW MIDDLEWARE
middleware name : rmw_fastrtps_cpp
ROS 2 INFORMATION
distribution name : humble
distribution type : ros2
distribution status : active
release platforms : {'rhel': ['8'], 'ubuntu': ['jammy']}
TOPIC LIST
topic : none
publisher count : 0
subscriber count : 0
Steps to reproduce issue
- Try to call
canTransform()between (C++)""and""attf2::TimePointZero. - Try to call
lookupTransform()between same frames and at the same time as in step 1.
Expected behavior
- Return
false - Throw exception
Actual behavior
- It returns
true. - It will return default "zero" transform.
Additional information
This might be an intentional 'feature' to speed up lookups, but it results in returning transforms between non-existent frames, which is misleading.
Contributor guide
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Assessment
This issue has not been assessed yet.