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[RST-2784] Only allow exact timestamp transformations #123

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Dec 10, 2019
Merged

[RST-2784] Only allow exact timestamp transformations #123

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18 changes: 0 additions & 18 deletions fuse_models/include/fuse_models/common/sensor_proc.h
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Original file line number Diff line number Diff line change
Expand Up @@ -193,34 +193,16 @@ template <typename T>
bool transformMessage(const tf2_ros::Buffer& tf_buffer, const T& input, T& output)
{
geometry_msgs::TransformStamped trans;

bool have_transform = false;

if (tf_buffer.canTransform(output.header.frame_id, input.header.frame_id, input.header.stamp))
{
try
{
trans = tf_buffer.lookupTransform(output.header.frame_id, input.header.frame_id, input.header.stamp);
have_transform = true;
}
catch (const tf2::TransformException& ex)
{
ROS_WARN_STREAM_THROTTLE(5.0, "Could not transform message from " << input.header.frame_id << " to " <<
output.header.frame_id << ". Error was " << ex.what() << " Will attempt to use latest transform instead.");
}
}

if (!have_transform)
{
try
{
trans = tf_buffer.lookupTransform(output.header.frame_id, input.header.frame_id, ros::Time(0));
}
catch (const tf2::TransformException& ex)
{
ROS_ERROR_STREAM_THROTTLE(5.0, "Could not transform message from " << input.header.frame_id << " to " <<
output.header.frame_id << ". Error was " << ex.what());

return false;
}
}
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