https://github.com/ros-planning/navigation2/blob/master/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/tf_help.hpp

Multiple definition compilation error for transformPose if tf_help.hpp is included in more than one place. I found this bug when I tried to write two controller plugin options that each had #include "nav_2d_utils/tf_help.hpp in their header files (as done in the dwb controller plugin).

transformPose fuction definitions should be defined in a separate source file and only declared in tf_help.hpp

Required Info:

• Operating System:
  • Ubuntu 18.04
• ROS2 Version:
  • Eloquent (but this bug will be in all ros2 variants)
• Version or commit hash:
  • 9f1d8a1
• DDS implementation:
  • not relevant