From 16d29fed80391d07bf93a565844998b31616fe9f Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 13 May 2022 00:29:28 +0300 Subject: [PATCH] aruco_detect: add transform_timeout parameter --- aruco_pose/src/aruco_detect.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/aruco_pose/src/aruco_detect.cpp b/aruco_pose/src/aruco_detect.cpp index ae945876..243a7fb2 100644 --- a/aruco_pose/src/aruco_detect.cpp +++ b/aruco_pose/src/aruco_detect.cpp @@ -71,6 +71,7 @@ private: ros::Subscriber map_markers_sub_; bool estimate_poses_, send_tf_, auto_flip_; double length_; + ros::Duration transform_timeout_; std::unordered_map length_override_; std::string frame_id_prefix_, known_tilt_; Mat camera_matrix_, dist_coeffs_; @@ -97,6 +98,7 @@ public: ros::shutdown(); } readLengthOverride(nh_priv_); + transform_timeout_ = ros::Duration(nh_priv.param("transform_timeout", 0.02)); known_tilt_ = nh_priv_.param("known_tilt", ""); auto_flip_ = nh_priv_.param("auto_flip", false); @@ -172,7 +174,7 @@ private: if (!known_tilt_.empty()) { try { snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_, - msg->header.stamp, ros::Duration(0.02)); + msg->header.stamp, transform_timeout_); } catch (const tf2::TransformException& e) { NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what()); }