tf2 introduction about geometry2

[tkruse]

Hm, maybe the part in http://www.ros.org/wiki/tf2/Migration saying "In Hydro tf has been deprecated in favor of tf2." should be removed, given the state of the tutorials and that no package yet seems to use tf2 in C++.

[jack-oquin]

Any chance of getting these problems fixed? They are still broken.

See also: #52

[jbohren]

Additionally all the functions that transform twists in BufferCore are still commented out.

[tkruse]

Possibly the wiki could at least warn users that the tutorials are outdated, in order to prevent scaring off new users.

[jack-oquin]

+1

I wasted a couple of hours yesterday trying to figure out how to use tf2 for a simple task, only to discover that the documentation is wrong, contradictory and confusing. tf2_ros has no Python API docs at all. I finally gave up on tf2, and got the job done using tf in no time at all.

If I had known tf2 is not yet ready for general use, I would not have wasted all that time.

[bchretien]

@jack-oquin: 👍 I just had the same experience.

As @tkruse said, saying that tf is deprecated in favor of tf2 is really misleading since the documentation is either wrong or missing.

[jack-oquin]

I added this to the http://wiki.ros.org/tf2/Migration page:

Unfortunately, the tf2 documentation for Hydro is incomplete (issue #20). Until that issue has been resolved, most users will have better luck using the older tf interfaces, which are still supported, better documented, and implemented using tf2 under the covers.

There may be other wiki pages that could use similar warnings. I linked it to this issue so people will know when it has been resolved.

[athoesen]

Wow. You literally just saved me hours and hours of frustration which I cannot afford at the moment. Thank you @jack-oquin . So I was about to start the tf2 tutorials and now I'm seeing this is a terrible idea and I should just stick with tf in Hydro?

[jack-oquin]

That is my opinion. Your experience may differ.

As best I can tell, tf2 works fine in Hydro, but some documentation is missing, and some of what exists seems to be wrong. The old tf still works, and looks like a reasonable alternative until someone with the requisite knowledge straightens out the tf2 docs.

[tfoote]

The tutorials have been updated, and I've added links to action based examples. The installation issues were resolved a while ago. If there's anything more specific please open individual tickets.