From 0594b963685f30d844ad44e164d400fd8c50db70 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=92=D0=B8=D1=82=D0=B0=D0=BB=D0=B8=D0=B9=20=D0=91=D0=BE?=
 =?UTF-8?q?=D0=BD=D0=B4=D0=B0=D1=80=D1=8C?= <bondar@elins.ru>
Date: Fri, 5 Jun 2020 18:06:53 +0300
Subject: [PATCH] Add tf pointers initialization

---
 src/nodelets/obstacles_detection.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/nodelets/obstacles_detection.cpp b/src/nodelets/obstacles_detection.cpp
index d0d5f01b..fbfbb3fc 100644
--- a/src/nodelets/obstacles_detection.cpp
+++ b/src/nodelets/obstacles_detection.cpp
@@ -75,6 +75,9 @@ ObstaclesDetection::ObstaclesDetection(const rclcpp::NodeOptions & options) :
 
 	grid_.parseParameters(gridParameters);
 
+	tfBuffer_ = std::make_shared< tf2_ros::Buffer >(this->get_clock());
+	tfListener_ = std::make_shared< tf2_ros::TransformListener >(*tfBuffer_);
+
 	cloudSub_ = create_subscription<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::SensorDataQoS(), std::bind(&ObstaclesDetection::callback, this, std::placeholders::_1));
 
 	groundPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("ground", 1);