footprint_filter: print less tf warnings

[v4hn]

On startup this filter produces about two pages of console output (ROS_ERRORs) on ExtrapolationExceptions because the listener is not yet setup. This commit reduces this to one warning.

[v4hn]

In my opinion, the proper way to fix this is to wait for the requested transformation before update is called for the first time. However, it seems to me that neither the configure function nor the constructor is a good place to do this...

[vrabaud]

hi, thx for trying to fix that inconvenience. I think it is dangerous to do it the way you did: what if the tf is lost later but for different reasons ? You then do not get any information. How about the simpler:

ROS_ERROR_THROTTLE(1, "Transform unavailable %s", ex.what());

[v4hn]

Hey Vincent,

my pull-request works in the situation you describe. For every successful transform I reset the transformavailable flag, so the warning is printed once each time the transform is lost.

I didn't know about *_THROTTLE. I still believe it's enough to print the warning once every time a problem is first encountered, but if you insist, _THROTTLE would work as well. A rate of .2 should suffice for this message though; 1 would likely still produce more than one message on startup (over here).

More importantly though, I do not consider missing tfs an error. It happens quite often in ROS that tfs are not available unless you wait for them explicitly. Imho waiting does not really make sense in this case because it's called so often that it's probably better to drop a scan than to wait for the tf. That's why I changed the macro to ROS_WARN.

Even one error on startup is too much in my opinion. It takes much more time to look through the startup log output to see whether everything works as expected, because "oh a red message" is no indicator for serious problems anymore.

Thanks for your time!

[vrabaud]

right, your fix works sorry. Now, there are two ways to behave I believe:

• emit a warning (and not an error you're right) once but emit another one when things are back to normal (otherwise you never know when the problem disappears)
• emit a warning as long as there is a problem (which is happening right now but throttle would help reduce the number of outputs) which helps witness a problem as it keeps popping up

I believe 2 is usually what's done: you get a warning whenever there's a problem and nothing otherwise (it's weird to get a warning when things are back to normal).

So please either add something in the log to say you are back to normal, or go with a throttle (if you go with it, a frequency of 1Hz does not seem crazy: you will end up have less than 10 warnings overall right ? if you get a real problem, it seems to me that 0.2 would make you notice it too late or it would get lost in the logs).

Opinions ? Thx ! I'm learning things :)

[v4hn]

I don't see why you would need a warning when things work (again), because then you have a working pipeline and no need to look into the log files anymore. But I see your point.

Concerning the "few" warnings on startup: I aim at a clean startup without warnings. Even one warning is annoying, although much better than two pages of errors..

I completely reworked the pull-request, please comment.

[vrabaud]

ok, I think your PR works as it is, thx for ironing out those details !