Add a tf_buffer_cache_time_ns to tf_wrapper

[ivanpauno]

Alternative to #780

[jacobperron]

Passing a parameter override doesn't seem to be working for me. I'm trying:

rviz2 --ros-args -p tf_buffer_cache_time_msg:=7

however the parameter appears unchanged:

$ ros2 param get /rviz tf_buffer_cache_time_ms  
Integer value is: 10000

Also, if there's a display already added in my rviz config, I see the following error on startup:

[ERROR] [1635957603.774472100] [rviz2]: Could not load display config: parameter 'tf_buffer_cache_time_ms' has already been declared

I've tried with the CameraDisplay and OdometryDisplay, both cause the error.

[ivanpauno]

@jacobperron try:

rviz2 --ros-args -p tf_buffer_cache_time_ms:=50000
ros2 param get /rviz tf_buffer_cache_time_ms

that works for me (you seem to have written _msg instead of _ms.

Also, if there's a display already added in my rviz config, I see the following error on startup:

Nice, I will take a look

[jacobperron]

you seem to have written _msg instead of _ms

🙃 yeah, that was it. Working now...

[ivanpauno]

Also, if there's a display already added in my rviz config, I see the following error on startup:

b0001fa fixed the issue to me

[jacobperron]

LGTM with green CI

---

Here's another fun one I just noticed: if you have the "add display" dialog open it must block the executor thread since ros2 param get hangs until the dialog is closed.

I don't think this needs to be fixed; certainly not for this PR.

[clalancette]

Here's another fun one I just noticed: if you have the "add display" dialog open it must block the executor thread since ros2 param get hangs until the dialog is closed.

Yuck. Agreed that we don't have to solve it here, but do you mind opening a separate issue to track that?

[ivanpauno]

Here's another fun one I just noticed: if you have the "add display" dialog open it must block the executor thread since ros2 param get hangs until the dialog is closed.

Interesting ...
Yes, that seems unrelated.

[jacobperron]

Yeah, I can open an issue. I suppose it's affecting subscriptions too (e.g. I guess displays do not update if we have a dialog open). Maybe this is desired? I don't know what the behavior is in ROS 1.

[jacobperron]

Here's a ticket: #793

[ivanpauno]

CI:

• Linux
• Linux-aarch64
• macOS
• Windows