document solution in ROS_ERROR on failed self-filtering (moveit#2627)

Also move the log command to the base class (which even uses the same logname...)
ubi-agni · May 23, 2021 · 3e3f449 · 3e3f449
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commit 3e3f449
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Showing 3 changed files with 9 additions and 7 deletions.
diff --git a/moveit_ros/occupancy_map_monitor/src/occupancy_map_updater.cpp b/moveit_ros/occupancy_map_monitor/src/occupancy_map_updater.cpp
@@ -72,7 +72,15 @@ bool OccupancyMapUpdater::updateTransformCache(const std::string& target_frame,
 {
   transform_cache_.clear();
   if (transform_provider_callback_)
-    return transform_provider_callback_(target_frame, target_time, transform_cache_);
+  {
+    bool success = transform_provider_callback_(target_frame, target_time, transform_cache_);
+    if (!success)
+      ROS_ERROR_THROTTLE(
+          1,
+          "Transform cache was not updated. Self-filtering may fail. If transforms were not available yet, consider "
+          "setting robot_description_planning/shape_transform_cache_lookup_wait_time to wait longer for transforms");
+    return success;
+  }
   else
   {
     ROS_WARN_THROTTLE(1, "No callback provided for updating the transform cache for octomap updaters");

diff --git a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
@@ -309,10 +309,7 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::ImageConstP
   }
 
   if (!updateTransformCache(depth_msg->header.frame_id, depth_msg->header.stamp))
-  {
-    ROS_ERROR_THROTTLE(1, "Transform cache was not updated. Self-filtering may fail.");
     return;
-  }
 
   if (depth_msg->is_bigendian && !HOST_IS_BIG_ENDIAN)
     ROS_ERROR_THROTTLE(1, "endian problem: received image data does not match host");

diff --git a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
@@ -213,10 +213,7 @@ void PointCloudOctomapUpdater::cloudMsgCallback(const sensor_msgs::PointCloud2::
   Eigen::Vector3d sensor_origin_eigen(sensor_origin_tf.getX(), sensor_origin_tf.getY(), sensor_origin_tf.getZ());
 
   if (!updateTransformCache(cloud_msg->header.frame_id, cloud_msg->header.stamp))
-  {
-    ROS_ERROR_THROTTLE(1, "Transform cache was not updated. Self-filtering may fail.");
     return;
-  }
 
   /* mask out points on the robot */
   shape_mask_->maskContainment(*cloud_msg, sensor_origin_eigen, 0.0, max_range_, mask_);