sleep_duration of can_transform takes too much time

[KennyRotella]

geometry2/tf2_ros/src/buffer.cpp

Line 41 in fe0457f

static const double CAN_TRANSFORM_POLLING_SCALE = 0.01;

Hello, I want to wait for a transform using 120 seconds of timeout, but right after executing the bag it takes 12 secs to find first transform, is there any method to reduce this period of sleep?

geometry2/tf2_ros/src/buffer.cpp

Line 163 in fe0457f

const ros::Duration sleep_duration = timeout * CAN_TRANSFORM_POLLING_SCALE;

[tfoote]

If you're sleeping 12 seconds that sounds like the system is working as expected. That's already 10 cycles of polling. And it polls before sleeping.

If you want want to try to optimize the extra ~1% polling latency you can work around this by calling the wait with a shorter duration multiple times.