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Fix collison_monitor performance #11

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Merged
HovorunB merged 7 commits into from
Feb 9, 2023
Merged

Fix collison_monitor performance #11

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11ab57c
Fix collison_monitor performance
HovorunB Feb 7, 2023
56c1766
move
HovorunB Feb 7, 2023
0d737ec
add return, docs
HovorunB Feb 8, 2023
3aae34a
Revert "add return, docs"
HovorunB Feb 8, 2023
d34b8da
Revert "move"
HovorunB Feb 8, 2023
dabed0d
Revert "Fix collison_monitor performance"
HovorunB Feb 8, 2023
e165fda
Change lookuptransform parameters
HovorunB Feb 8, 2023
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1 change: 0 additions & 1 deletion nav2_collision_monitor/include/nav2_collision_monitor/source.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,6 @@ class Source
bool getTransform(
const std::string & source_frame_id,
const rclcpp::Time & source_time,
const rclcpp::Time & curr_time,
tf2::Transform & tf_transform) const;

// ----- Variables -----
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2 changes: 1 addition & 1 deletion nav2_collision_monitor/src/pointcloud.cpp
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Expand Up @@ -111,7 +111,7 @@ void PointCloud::getData(
// Obtaining the transform to get data from source frame and time where it was received
// to the base frame and current time
tf2::Transform tf_transform;
if (!getTransform(data_->header.frame_id, data_->header.stamp, curr_time, tf_transform)) {
if (!getTransform(data_->header.frame_id, data_->header.stamp, tf_transform)) {
return;
}

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2 changes: 1 addition & 1 deletion nav2_collision_monitor/src/scan.cpp
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Expand Up @@ -76,7 +76,7 @@ void Scan::getData(
// Obtaining the transform to get data from source frame and time where it was received
// to the base frame and current time
tf2::Transform tf_transform;
if (!getTransform(data_->header.frame_id, data_->header.stamp, curr_time, tf_transform)) {
if (!getTransform(data_->header.frame_id, data_->header.stamp, tf_transform)) {
return;
}

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6 changes: 1 addition & 5 deletions nav2_collision_monitor/src/source.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,6 @@ bool Source::sourceValid(
bool Source::getTransform(
const std::string & source_frame_id,
const rclcpp::Time & source_time,
const rclcpp::Time & curr_time,
tf2::Transform & tf2_transform) const
{
geometry_msgs::msg::TransformStamped transform;
Expand All @@ -88,10 +87,7 @@ bool Source::getTransform(
try {
// Obtaining the transform to get data from source to base frame.
// This also considers the time shift between source and base.
transform = tf_buffer_->lookupTransform(
base_frame_id_, curr_time,
source_frame_id, source_time,
global_frame_id_, transform_tolerance_);
transform = tf_buffer_->lookupTransform(base_frame_id_, source_frame_id, source_time, transform_tolerance_);
} catch (tf2::TransformException & e) {
RCLCPP_ERROR(
logger_,
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