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optical_flow: use try when transform from camera to base_link frame

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This commit is contained in:
Oleg Kalachev
2019-03-18 23:50:40 +03:00
parent 63d3449cc5
commit d2b13aff92
1 changed files with 6 additions and 1 deletions
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7
clever/src/optical_flow.cpp
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@@ -161,7 +161,12 @@ private:
flow_camera.header.stamp = msg->header.stamp;
flow_camera.vector.x = flow_y; // +y means counter-clockwise rotation around Y axis
flow_camera.vector.y = -flow_x; // +x means clockwise rotation around X axis
tf_buffer_.transform(flow_camera, flow_fcu, fcu_frame_id_);
try {
tf_buffer_.transform(flow_camera, flow_fcu, fcu_frame_id_);
} catch (const tf2::TransformException& e) {
// transform is not available yet
return;
}
// Calculate integration time
ros::Duration integration_time = msg->header.stamp - prev_stamp_;