I made velocity_set use the library to lookup the transform instead of using localizer_pose topic.
In VelocitySetInfo I removed the localizerPoseCallback as the TF2 library doesnt use it. Instead created setLocalizerPose.
I also changed the type of localizerpose from geometry_msgs::PoseStamped to geometry_msgs::Pose as it was easy to create and didnt require a lot of changes in the code.
I made velocity_set use the library to lookup the transform instead of using localizer_pose topic. In VelocitySetInfo I removed the localizerPoseCallback as the TF2 library doesnt use it. Instead created setLocalizerPose. I also changed the type of localizerpose from geometry_msgs::PoseStamped to geometry_msgs::Pose as it was easy to create and didnt require a lot of changes in the code.
See original MR for more details: https://gitlab.com/astuff/autoware.ai/core_planning/-/merge_requests/42