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simple_offboard: fix transform timeout in /navigate_global

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This commit is contained in:
Oleg Kalachev
2019-07-21 21:46:52 +03:00
parent 82f2a2df50
commit eae36ab22d
1 changed files with 4 additions and 0 deletions
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4
clever/src/simple_offboard.cpp
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@@ -351,6 +351,10 @@ PoseStamped globalToLocal(double lat, double lon)
x_offset = distance * sin(azimuth_radians);
y_offset = distance * cos(azimuth_radians);
if (!waitTransform(local_frame, fcu_frame, global_position.header.stamp, ros::Duration(1))) {
throw std::runtime_error("No local position");
}
auto local = tf_buffer.lookupTransform(local_frame, fcu_frame, global_position.header.stamp);
PoseStamped pose;