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koide3 / hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR
BSD 2-Clause "Simplified" License
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Check transform with timeout. #94

Closed skasperski closed 1 year ago

skasperski commented 1 year ago

I ran into an issue where the call to transformPointcloud always failed, because the tf2_ros::Buffer did not update fast enough. As transformPointcloud does not forward the duration to lookupTransform, I solved it by explicitly checking the transform before transforming the point cloud.

koide3 commented 1 year ago

Thanks for your PR and sorry for replying slowly. It looks good for me, and I merge it soon.