Will BufferCore have _addTransformsChangedListener?

[rafaelrojasmiliani]

BufferCode hat _addTransformsChangedListener in ROS noetic. This was useful to avoid topic listener proliferation. Is it possible to achieve the same functionality with the current BufferCore?

[tfoote]

You can explicitly addTransformableRequest here:

geometry2/tf2/include/tf2/buffer_core.hpp

Line 243 in 13184de

TransformableRequestHandle addTransformableRequest(

which includes a callback to register.

It's specified as an internal method but if you are careful about threading that is a cleaner way to get a callback in the same way s the core does. Instead of the old mechanism which was a completely separate process.