From f173b61a59e64d95327ec0c92d1944ad122bca52 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Mon, 27 Jun 2022 15:12:15 +0900 Subject: [PATCH] fix(simple_planning_simlator): keep alive tf (#1175) * fix(simple_planning_simlator): keep alive tf Signed-off-by: Shumpei Wakabayashi * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../simple_planning_simulator_core.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index d29ba626aa01d..3e262928e46c9 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -74,9 +74,7 @@ namespace simple_planning_simulator { SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & options) -: Node("simple_planning_simulator", options), - tf_buffer_(get_clock()), - tf_listener_(tf_buffer_, std::shared_ptr(this, [](auto) {}), false) +: Node("simple_planning_simulator", options), tf_buffer_(get_clock()), tf_listener_(tf_buffer_) { simulated_frame_id_ = declare_parameter("simulated_frame_id", "base_link"); origin_frame_id_ = declare_parameter("origin_frame_id", "odom");