tf2-apollo

Intro

tf2-apollo was Apollo's clone of ROS tf2 for coordinate transforms. It seems that it was based on ros/geometry2 tagged 0.5.16

How to build

mkdir build && cd build
cmake .. -DBUILD_TESTS=OFF -DCMAKE_INSTALL_PREFIX=/usr/local/tf2
make -j$(nproc)
sudo make install

gtest support for tf2-apollo

In order not to build gtest into our docker image, gtest support for tf2 was implemented according to https://crascit.com/2015/07/25/cmake-gtest

Reference

• https://github.com/ros/geometry2
• http://wiki.ros.org/geometry2