Revert change to save_to_warehouse since we don't start the state mon…

…itor
moveit · Aug 13, 2021 · 56f718c · 56f718c
1 parent a92c03c
commit 56f718c
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/moveit_ros/warehouse/warehouse/src/save_to_warehouse.cpp b/moveit_ros/warehouse/warehouse/src/save_to_warehouse.cpp
@@ -44,6 +44,7 @@
 #include <boost/program_options/parsers.hpp>
 #include <boost/program_options/variables_map.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tf2_ros/transform_listener.h>
 
 static const std::string ROBOT_DESCRIPTION = "robot_description";
 
@@ -146,6 +147,8 @@ int main(int argc, char** argv)
 
   rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
   std::shared_ptr<tf2_ros::Buffer> tf_buffer = std::make_shared<tf2_ros::Buffer>(clock);
+  std::shared_ptr<tf2_ros::TransformListener> tf_listener =
+      std::make_shared<tf2_ros::TransformListener>(*tf_buffer, node);
   planning_scene_monitor::PlanningSceneMonitor psm(node, ROBOT_DESCRIPTION, tf_buffer);
   if (!psm.getPlanningScene())
   {