From 4a112b6b22806b544d098b892040fb906fb27592 Mon Sep 17 00:00:00 2001
From: Elodie-prod-6 <guillaume.doisy@wyca.fr>
Date: Fri, 13 Aug 2021 19:34:07 +0200
Subject: [PATCH] Message filter timeout

---
 src/spatio_temporal_voxel_layer.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/spatio_temporal_voxel_layer.cpp b/src/spatio_temporal_voxel_layer.cpp
index 1e022c48..aebab0b7 100644
--- a/src/spatio_temporal_voxel_layer.cpp
+++ b/src/spatio_temporal_voxel_layer.cpp
@@ -285,7 +285,7 @@ void SpatioTemporalVoxelLayer::onInitialize(void)
 
       std::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>
       > filter(new tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>(
-          *sub, *tf_, _global_frame, 50, rclcpp_node_));
+          *sub, *tf_, _global_frame, 50, rclcpp_node_, tf2::durationFromSec(transform_tolerance)));
 
       if (inf_is_valid) {
         filter->registerCallback(
@@ -310,7 +310,7 @@ void SpatioTemporalVoxelLayer::onInitialize(void)
 
       std::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>
       > filter(new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(
-          *sub, *tf_, _global_frame, 50, rclcpp_node_));
+          *sub, *tf_, _global_frame, 50, rclcpp_node_, tf2::durationFromSec(transform_tolerance)));
       filter->registerCallback(
         std::bind(
           &SpatioTemporalVoxelLayer::PointCloud2Callback, this, _1,