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aruco_detect: add transform_timeout parameter

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This commit is contained in:
Oleg Kalachev
2022-05-13 00:29:28 +03:00
parent 2418c259a8
commit 16d29fed80
1 changed files with 3 additions and 1 deletions
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4
aruco_pose/src/aruco_detect.cpp
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@@ -71,6 +71,7 @@ private:
ros::Subscriber map_markers_sub_; ros::Subscriber map_markers_sub_;
bool estimate_poses_, send_tf_, auto_flip_; bool estimate_poses_, send_tf_, auto_flip_;
double length_; double length_;
ros::Duration transform_timeout_;
std::unordered_map<int, double> length_override_; std::unordered_map<int, double> length_override_;
std::string frame_id_prefix_, known_tilt_; std::string frame_id_prefix_, known_tilt_;
Mat camera_matrix_, dist_coeffs_; Mat camera_matrix_, dist_coeffs_;
@@ -97,6 +98,7 @@ public:
ros::shutdown(); ros::shutdown();
} }
readLengthOverride(nh_priv_); readLengthOverride(nh_priv_);
transform_timeout_ = ros::Duration(nh_priv.param("transform_timeout", 0.02));
known_tilt_ = nh_priv_.param<std::string>("known_tilt", ""); known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
auto_flip_ = nh_priv_.param("auto_flip", false); auto_flip_ = nh_priv_.param("auto_flip", false);
@@ -172,7 +174,7 @@ private:
if (!known_tilt_.empty()) { if (!known_tilt_.empty()) {
try { try {
snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_, 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) { } catch (const tf2::TransformException& e) {
NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what()); NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
} }