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imu_to_tf: added wait_for_transform_duration parameter

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This commit is contained in:
matlabbe
2019-09-17 09:05:10 -04:00
parent 29ccfe56cd
commit e888d655e8
1 changed files with 5 additions and 2 deletions
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src/nodelets/imu_to_tf.cpp
+5 -2
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@@ -40,7 +40,8 @@ class ImuToTF : public nodelet::Nodelet
{ {
public: public:
ImuToTF() : ImuToTF() :
fixedFrameId_("odom") fixedFrameId_("odom"),
waitForTransformDuration_(0.1)
{} {}
virtual ~ImuToTF() virtual ~ImuToTF()
@@ -55,6 +56,7 @@ private:
pnh.param("fixed_frame_id", fixedFrameId_, fixedFrameId_); pnh.param("fixed_frame_id", fixedFrameId_, fixedFrameId_);
pnh.param("base_frame_id", baseFrameId_, baseFrameId_); pnh.param("base_frame_id", baseFrameId_, baseFrameId_);
pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
NODELET_INFO("fixed_frame_id: %s", fixedFrameId_.c_str()); NODELET_INFO("fixed_frame_id: %s", fixedFrameId_.c_str());
NODELET_INFO("base_frame_id: %s", baseFrameId_.c_str()); NODELET_INFO("base_frame_id: %s", baseFrameId_.c_str());
@@ -77,7 +79,7 @@ private:
try try
{ {
std::string errorMsg; std::string errorMsg;
if(!tfListener_.waitForTransform(baseFrameId_, msg->header.frame_id, msg->header.stamp, ros::Duration(0.1), ros::Duration(0.01), &errorMsg)) if(!tfListener_.waitForTransform(baseFrameId_, msg->header.frame_id, msg->header.stamp, ros::Duration(waitForTransformDuration_), ros::Duration(0.01), &errorMsg))
{ {
NODELET_ERROR("Could not get transform from %s to %s after %f seconds (for stamp=%f)! Error=\"%s\".", NODELET_ERROR("Could not get transform from %s to %s after %f seconds (for stamp=%f)! Error=\"%s\".",
baseFrameId_.c_str(), msg->header.frame_id.c_str(), 0.1, msg->header.stamp.toSec(), errorMsg.c_str()); baseFrameId_.c_str(), msg->header.frame_id.c_str(), 0.1, msg->header.stamp.toSec(), errorMsg.c_str());
@@ -110,6 +112,7 @@ private:
std::string fixedFrameId_; std::string fixedFrameId_;
std::string baseFrameId_; std::string baseFrameId_;
tf::TransformListener tfListener_; tf::TransformListener tfListener_;
double waitForTransformDuration_;
}; };