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fix(accel_brake_map_calibrator): fix usage of transform listener #2682

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merged 2 commits into from
Jan 18, 2023
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fix(accel_brake_map_calibrator): fix usage of transform listener #2682

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ec62c54
fix(accel_brake_map_calibrator): fix usage of transform listener
tkimura4 Jan 18, 2023
8d24caf
add maintainer
tkimura4 Jan 18, 2023
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3 changes: 3 additions & 0 deletions vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,9 @@
<version>0.1.0</version>
<description>The accel_brake_map_calibrator</description>
<maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
<maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
<maintainer email="takeshi.miura@tier4.jp">Takeshi Miura</maintainer>

<license>Apache License 2.0</license>

<buildtool_depend>ament_cmake_auto</buildtool_depend>
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10 changes: 4 additions & 6 deletions ...l_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp
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Expand Up @@ -232,15 +232,13 @@ bool AccelBrakeMapCalibrator::getCurrentPitchFromTF(double * pitch)
}

// get tf
geometry_msgs::msg::TransformStamped::ConstSharedPtr transform;
try {
transform = transform_listener_->getTransform(
"map", "base_link", rclcpp::Time(0), rclcpp::Duration::from_seconds(0.5));
} catch (tf2::TransformException & ex) {
const auto transform = transform_listener_->getTransform(
"map", "base_link", rclcpp::Time(0), rclcpp::Duration::from_seconds(0.5));
if (!transform) {
auto & clk = *this->get_clock();
RCLCPP_WARN_STREAM_THROTTLE(
rclcpp::get_logger("accel_brake_map_calibrator"), clk, 5000,
"cannot get map to base_link transform. " << ex.what());
"cannot get map to base_link transform. ");
return false;
}
double roll, raw_pitch, yaw;
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