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iKrishneel / octomap_server2

ROS2 stack for mapping with OctoMap, contains octomap_server package
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Fix not found tf #24

Closed tipodgorsk closed 2 months ago

tipodgorsk commented 2 months ago

Hi, While testing ground filter on ros2 humble / ubuntu 22.04, i noticed that the tf between "base_footprint" and "map" was never found with the correct timestamp

1) Bug : tf between "base_footprint" and "map" always found with too old timestamp.

Fix : deprecated header of tf2_geometry_msg

2) Bug : exception handling not working because of a "throw msg".

Fix "throw" exceptions

Since buffer->canTransform doesn't generate any exception and always return true or false, i kicked those methods out of the try-catch

I'm new to pull request, i hope the format is correct, and hope it will help your work.

tipodgorsk commented 2 months ago

sometimes, the tf is still not found, debugging ... Will pull request once it will be solved, Sorry