add timeout to lookupTransform

adivardi · adivardi · commit 25f310d6f427 · 2023-12-19T10:02:46.000+01:00
Otherwise there are a lot of warnings of `lookup would require extrapolation into the future`
diff --git a/imu_filter_madgwick/src/imu_filter_ros.cpp b/imu_filter_madgwick/src/imu_filter_ros.cpp
@@ -432,7 +432,8 @@ void ImuFilterRos::publishOrientationFiltered(const ImuMsg::ConstPtr& imu_msg)
     try
     {
         transform = tf_buffer_.lookupTransform(
-            fixed_frame_, imu_msg->header.frame_id, imu_msg->header.stamp);
+            fixed_frame_, imu_msg->header.frame_id, imu_msg->header.stamp,
+            ros::Duration(0.1));
     } catch (tf2::TransformException& ex)
     {
         ROS_WARN("%s", ex.what());

Original file line number	Diff line number	Diff line change
`@@ -432,7 +432,8 @@ void ImuFilterRos::publishOrientationFiltered(const ImuMsg::ConstPtr& imu_msg)`
`432`	`432`	`try`
`433`	`433`	`{`
`434`	`434`	`transform = tf_buffer_.lookupTransform(`
`435`		`- fixed_frame_, imu_msg->header.frame_id, imu_msg->header.stamp);`
	`435`	`+ fixed_frame_, imu_msg->header.frame_id, imu_msg->header.stamp,`
	`436`	`+ ros::Duration(0.1));`
`436`	`437`	`} catch (tf2::TransformException& ex)`
`437`	`438`	`{`
`438`	`439`	`ROS_WARN("%s", ex.what());`