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Add duration parameter to the cantransform call in updateCostmap in r… #3053

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Add duration parameter to the cantransform call in updateCostmap in r… #3053

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5 changes: 4 additions & 1 deletion nav2_costmap_2d/plugins/range_sensor_layer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -292,8 +292,11 @@ void RangeSensorLayer::updateCostmap(
in.header.stamp = range_message.header.stamp;
in.header.frame_id = range_message.header.frame_id;

std::string * errstr = NULL;
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@SteveMacenski SteveMacenski Jun 29, 2022

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Might want to include that error string in the RCLCPP INFO when it fails to give more context, if you're going to collect it!

if (!tf_->canTransform(
in.header.frame_id, global_frame_, tf2_ros::fromMsg(in.header.stamp)))
in.header.frame_id, global_frame_,
tf2_ros::fromMsg(in.header.stamp),
tf2_ros::fromRclcpp(transform_tolerance_), errstr))
{
RCLCPP_INFO(
logger_, "Range sensor layer can't transform from %s to %s",
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