Fixed TfTransform not receiving transforms.

StefanFabian · Jun 8, 2021 · a8420bc · a8420bc
1 parent 97fdd2c
commit a8420bc
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/src/tf_transform.cpp b/src/tf_transform.cpp
@@ -112,6 +112,7 @@ void TfTransform::subscribe()
 {
   if ( source_frame_.isEmpty() || target_frame_.isEmpty() || !enabled_ ) return;
 
+  TfTransformListener::getInstance().registerWrapper();
   QObject::connect( &TfTransformListener::getInstance(), &TfTransformListener::transformChanged,
                     this, &TfTransform::onTransformChanged );
   // Load transform
@@ -122,6 +123,7 @@ void TfTransform::shutdown()
 {
   QObject::disconnect( &TfTransformListener::getInstance(), &TfTransformListener::transformChanged,
                        this, &TfTransform::onTransformChanged );
+  TfTransformListener::getInstance().unregisterWrapper();
 }
 
 void TfTransform::updateMessage()

diff --git a/src/tf_transform_listener.cpp b/src/tf_transform_listener.cpp
@@ -38,7 +38,7 @@ void TfTransformListener::onRosInitialized()
 {
   if ( wrapper_count_ == 0 ) return;
   state_.reset( new State());
-  state_->buffer._addTransformsChangedListener( boost::bind( &TfTransformListener::onTransformChanged, this ));
+  state_->buffer._addTransformsChangedListener( [this] { onTransformChanged(); });
 }
 
 void TfTransformListener::onRosShutdown()
@@ -242,10 +242,11 @@ QVariantMap TfTransformListener::lookUpTransform( const QString &target_frame, c
 
 void TfTransformListener::registerWrapper()
 {
+
   if ( wrapper_count_++ == 0 && isInitialized())
   {
     state_.reset( new State());
-    state_->buffer._addTransformsChangedListener( boost::bind( &TfTransformListener::onTransformChanged, this ));
+    state_->buffer._addTransformsChangedListener( [this] { onTransformChanged(); });
   }
 }