From 0458b07f51207af544221882e4f00da48d9a82dc Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Tue, 4 Jul 2023 20:01:20 -0700 Subject: [PATCH] Add tf lookup timeout to IMU and Odometry processing --- fuse_models/src/imu_2d.cpp | 4 ++-- fuse_models/src/odometry_2d.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/fuse_models/src/imu_2d.cpp b/fuse_models/src/imu_2d.cpp index 1a619f660..f894d4413 100644 --- a/fuse_models/src/imu_2d.cpp +++ b/fuse_models/src/imu_2d.cpp @@ -256,7 +256,7 @@ void Imu2D::processDifferential( params_.orientation_target_frame.empty() ? pose.header.frame_id : params_. orientation_target_frame; - if (!common::transformMessage(*tf_buffer_, pose, *transformed_pose)) { + if (!common::transformMessage(*tf_buffer_, pose, *transformed_pose, params_.tf_timeout)) { RCLCPP_WARN_STREAM_THROTTLE( logger_, *clock_, 5.0 * 1000, "Cannot transform pose message with stamp " << rclcpp::Time( @@ -276,7 +276,7 @@ void Imu2D::processDifferential( transformed_twist.header.frame_id = params_.twist_target_frame.empty() ? twist.header.frame_id : params_.twist_target_frame; - if (!common::transformMessage(*tf_buffer_, twist, transformed_twist)) { + if (!common::transformMessage(*tf_buffer_, twist, transformed_twist, params_.tf_timeout)) { RCLCPP_WARN_STREAM_THROTTLE( logger_, *clock_, 5.0 * 1000, "Cannot transform twist message with stamp " << rclcpp::Time( diff --git a/fuse_models/src/odometry_2d.cpp b/fuse_models/src/odometry_2d.cpp index 192d56b89..e6f1742c3 100644 --- a/fuse_models/src/odometry_2d.cpp +++ b/fuse_models/src/odometry_2d.cpp @@ -199,7 +199,7 @@ void Odometry2D::processDifferential( transformed_pose->header.frame_id = params_.pose_target_frame.empty() ? pose.header.frame_id : params_.pose_target_frame; - if (!common::transformMessage(*tf_buffer_, pose, *transformed_pose)) { + if (!common::transformMessage(*tf_buffer_, pose, *transformed_pose, params_.tf_timeout)) { RCLCPP_WARN_STREAM_THROTTLE( logger_, *clock_, 5.0 * 1000, "Cannot transform pose message with stamp " @@ -218,7 +218,7 @@ void Odometry2D::processDifferential( transformed_twist.header.frame_id = params_.twist_target_frame.empty() ? twist.header.frame_id : params_.twist_target_frame; - if (!common::transformMessage(*tf_buffer_, twist, transformed_twist)) { + if (!common::transformMessage(*tf_buffer_, twist, transformed_twist, params_.tf_timeout)) { RCLCPP_WARN_STREAM_THROTTLE( logger_, *clock_, 5.0 * 1000, "Cannot transform twist message with stamp " << rclcpp::Time(