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Port missing tf timeout from ROS1 to ROS2 #333

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Port missing tf timeout from ROS1 to ROS2 #333

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4 changes: 2 additions & 2 deletions fuse_models/src/imu_2d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -256,7 +256,7 @@ void Imu2D::processDifferential(
params_.orientation_target_frame.empty() ? pose.header.frame_id : params_.
orientation_target_frame;

if (!common::transformMessage(*tf_buffer_, pose, *transformed_pose)) {
if (!common::transformMessage(*tf_buffer_, pose, *transformed_pose, params_.tf_timeout)) {
RCLCPP_WARN_STREAM_THROTTLE(
logger_, *clock_, 5.0 * 1000,
"Cannot transform pose message with stamp " << rclcpp::Time(
Expand All @@ -276,7 +276,7 @@ void Imu2D::processDifferential(
transformed_twist.header.frame_id =
params_.twist_target_frame.empty() ? twist.header.frame_id : params_.twist_target_frame;

if (!common::transformMessage(*tf_buffer_, twist, transformed_twist)) {
if (!common::transformMessage(*tf_buffer_, twist, transformed_twist, params_.tf_timeout)) {
RCLCPP_WARN_STREAM_THROTTLE(
logger_, *clock_, 5.0 * 1000,
"Cannot transform twist message with stamp " << rclcpp::Time(
Expand Down
4 changes: 2 additions & 2 deletions fuse_models/src/odometry_2d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -199,7 +199,7 @@ void Odometry2D::processDifferential(
transformed_pose->header.frame_id =
params_.pose_target_frame.empty() ? pose.header.frame_id : params_.pose_target_frame;

if (!common::transformMessage(*tf_buffer_, pose, *transformed_pose)) {
if (!common::transformMessage(*tf_buffer_, pose, *transformed_pose, params_.tf_timeout)) {
RCLCPP_WARN_STREAM_THROTTLE(
logger_, *clock_, 5.0 * 1000,
"Cannot transform pose message with stamp "
Expand All @@ -218,7 +218,7 @@ void Odometry2D::processDifferential(
transformed_twist.header.frame_id =
params_.twist_target_frame.empty() ? twist.header.frame_id : params_.twist_target_frame;

if (!common::transformMessage(*tf_buffer_, twist, transformed_twist)) {
if (!common::transformMessage(*tf_buffer_, twist, transformed_twist, params_.tf_timeout)) {
RCLCPP_WARN_STREAM_THROTTLE(
logger_, *clock_, 5.0 * 1000,
"Cannot transform twist message with stamp " << rclcpp::Time(
Expand Down