Avoid redundant TF lookups in getShapeTransformCache

[hugogo1998]

Description

getShapeTransformCache() currently calls canTransform() before each lookupTransform(), causing an extra TF-tree traversal when the transform is already available.

This change performs a single direct lookup on the common path. If it is not immediately available, it retries with shape_transform_cache_lookup_wait_time_. A missing transform skips only that frame, so the rest of the cache is still populated.

Results

Real tf2::BufferCore, mean cache-build time:

Collision shapes	Current	This change	Speedup
4	2.06 µs	1.69 µs	1.22x
8	6.58 µs	4.41 µs	1.49x
16	11.69 µs	7.26 µs	1.61x
32	32.04 µs	20.68 µs	1.55x

Testing

Added coverage for a transform that arrives during the configured wait and for continuing after one frame is unavailable.

Built moveit_ros_planning and ran planning_scene_monitor_test in moveit/moveit2:humble-ci: 4/4 gtests passed; colcon reported 3 tests, 0 errors, 0 failures, 0 skipped.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend tutorials / documentation — not applicable; no user-facing change
• Document API changes in MIGRATION.md — not applicable; no API change
• Create tests — added timeout and partial-cache coverage
• Include a screenshot if changing a GUI — not applicable
• While waiting for the PR to be reviewed, review another open PR

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ℹ️ Recent review info

⚙️ Run configuration

Configuration used: defaults

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Run ID: 4ce4d704-08ad-456f-8c0d-25cedbd54960

📥 Commits

Reviewing files that changed from the base of the PR and between 4a5021b and 12194e2.

📒 Files selected for processing (2)

• moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
• moveit_ros/planning/planning_scene_monitor/test/planning_scene_monitor_test.cpp

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📝 Walkthrough

Walkthrough

Changes

The planning scene monitor now resolves shape transforms per frame. It first performs a direct BufferCore lookup, then a timed buffer lookup. Missing transforms are skipped without aborting cache construction. Tests cover delayed and missing transforms.

Shape transform cache

Layer / File(s)	Summary
Per-frame transform lookup moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp	getShapeTransformCache() uses direct and timed lookups for each frame. It adds link, attached-body, and collision-object entries only when transforms are available.
Transform cache test coverage moveit_ros/planning/planning_scene_monitor/test/planning_scene_monitor_test.cpp	The test fixture exposes transform-cache helpers. Tests cover delayed transforms and missing transforms for one of several links.

Estimated code review effort: 3 (Moderate) | ~20 minutes

Merge Risk: 🔵 Low · up to 12194

The change removes the configured wait for temporarily unavailable transforms and changes failures from skipping one affected frame to stopping the remaining cache work for that update. This is mergeable with owner awareness because transient TF delays could leave less of the cache populated during a pass.

Sequence Diagram(s)

sequenceDiagram
  participant getShapeTransformCache
  participant tf2BufferCore
  participant tf2Buffer
  participant shapeTransformCache
  getShapeTransformCache->>tf2BufferCore: Request transform at timestamp
  tf2BufferCore-->>getShapeTransformCache: Return transform or failure
  getShapeTransformCache->>tf2Buffer: Retry with configured wait duration
  tf2Buffer-->>getShapeTransformCache: Return transform or failure
  getShapeTransformCache->>shapeTransformCache: Add entry when transform is available

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🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly and concisely describes the main change: removing redundant TF lookups from getShapeTransformCache.

✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests

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