[Issue #223] Add an optional tf_timeout parameter to the sensor models #224
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@ayrton04 Do you remember any reason why we did not allow the sensor processing to wait for a tf transform to begin with? |
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Almost certainly because it had the potential to mess with the output rate. |
| auto trans = geometry_msgs::TransformStamped(); | ||
| if (tf_timeout.isZero()) | ||
| { | ||
| trans = tf_buffer.lookupTransform(output.header.frame_id, input.header.frame_id, input.header.stamp); |
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I'm too lazy to look, but does this call just end up calling the other overload with a duration of 0 anyway? What happens if you always just pass tf_timeout, even if it's 0?
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It does not. The lookupTransform() method with the timeout calls the canTransform() version with a timeout internally, before calling the base class lookupTransform() method without the timeout.
https://github.com/ros/geometry2/blob/noetic-devel/tf2_ros/src/buffer.cpp#L119
Whereas the non-timeout version of lookupTransform() is the base class version.
There seemed like enough unneeded operations in the canTransform() implementation to make this additional bit of ugliness worthwhile.
| ROS_ERROR_STREAM("Cannot create constraint from pose message with stamp " << acceleration.header.stamp); | ||
| ROS_ERROR_STREAM_THROTTLE( | ||
| 10.0, | ||
| "Cannot create constraint from pose message with stamp " << acceleration.header.stamp); |
In Issue #223 the sensor model failed to create a constraint due to the lack of an available tf transform. This PR adds an optional
tf_timeoutto all relevant sensor models. If the timeout is non-zero, the tflookupTransform()signature with a timeout parameter will be used instead. This allows the user to optionally add a timeout duration, allowing the sensor processing code to wait for a transform is one is not available immediately. Note that this will potentially delay the sensor processing, and may cause dropped messages if the tf frame is not available in a timely fashion.