Added test for timeout

[delihus]

The getCurrentPose does not consider the times. What is a transform_timeout parameter?

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Description of contribution in a few bullet points

• added timeout test what should fail but it does not.

Description of documentation updates required from your changes

• the documentation says that the getCurrentPose has its timeout but the timeout is ignore.

Description of how this change was tested

• I wrote the test and it fails.

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
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[mergify]

@delihus, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @jazzy, but it must be in main
to have these changes reflected into new distributions.

[mini-1235]

@delihus can you explain what this PR is trying to fix?

[delihus]

Actually, the changes provide the error that the function getCurrentPose does not respect provided timeout. The tests fail.

So the question for you is what is the transform_timeout argument. If it is the duration timeout between now() and last received timeout, it seems to not work properlly. I can add the timeout checking, but I need to understand this parameter. :D

[mini-1235]

The transform_timeout is used in the following code:

tf_buffer.transform(
      input_pose, target_frame,
      tf2::durationFromSec(transform_timeout));

You might want to take a look at https://github.com/ros2/geometry2/blob/13184de30f971a02b6e747e4ff2dacaf5f41c29a/tf2_ros/include/tf2_ros/buffer_interface.hpp#L229 to understand its usage.

Since this is a question related to geometry2, I am going to close this

[delihus]

Now I understand. Then the documentation is misleading. I will copy the parameter description from geometry2.