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Add a tf_buffer_cache_time_ns to tf_wrapper #792

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merged 3 commits into from
Nov 3, 2021
Merged

Add a tf_buffer_cache_time_ns to tf_wrapper #792

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f9013f0
Add a tf_buffer_cache_time_ns to tf_wrapper
ivanpauno Nov 3, 2021
82896d3
Use ms instead of ns
ivanpauno Nov 3, 2021
b0001fa
Handle parameter already declared exception
ivanpauno Nov 3, 2021
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18 changes: 17 additions & 1 deletion rviz_default_plugins/src/rviz_default_plugins/transformation/tf_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@

#include "rviz_default_plugins/transformation/tf_wrapper.hpp"

#include <chrono>
#include <memory>
#include <string>
#include <vector>
Expand Down Expand Up @@ -138,7 +139,22 @@ void TFWrapper::initialize(
void TFWrapper::initializeBuffer(
rclcpp::Clock::SharedPtr clock, rclcpp::Node::SharedPtr node, bool using_dedicated_thread)
{
buffer_ = std::make_shared<tf2_ros::Buffer>(clock);
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Configure the rviz tf buffer cache time [ms].";
descriptor.read_only = true;
auto cache_time_ms = node->declare_parameter<int64_t>(
"tf_buffer_cache_time_ms",
std::chrono::duration_cast<std::chrono::milliseconds>(
tf2::BUFFER_CORE_DEFAULT_CACHE_TIME).count(),
descriptor);
if (cache_time_ms < 0) {
RCLCPP_WARN(
node->get_logger(),
"Specified parameter 'tf_buffer_cache_time_ms' is < 0, using the default tf buffer"
" cache time");
}
std::chrono::milliseconds cache_time{cache_time_ms};
buffer_ = std::make_shared<tf2_ros::Buffer>(clock, cache_time);
auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(
node->get_node_base_interface(), node->get_node_timers_interface());
buffer_->setCreateTimerInterface(timer_interface);
Expand Down