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Do not create a new node instance for the transform listener #5912

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Timple wants to merge 1 commit into from
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Do not create a new node instance for the transform listener #5912

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2 changes: 1 addition & 1 deletion nav2_costmap_2d/src/costmap_2d_ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -154,7 +154,7 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
get_node_timers_interface(),
callback_group_);
tf_buffer_->setCreateTimerInterface(timer_interface);
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, this);

// Then load and add the plug-ins to the costmap
for (unsigned int i = 0; i < plugin_names_.size(); ++i) {
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2 changes: 1 addition & 1 deletion nav2_map_server/src/vo_server/vector_object_server.cpp
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Expand Up @@ -48,7 +48,7 @@ VectorObjectServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
this->get_node_base_interface(),
this->get_node_timers_interface());
tf_buffer_->setCreateTimerInterface(timer_interface);
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, this);

// Obtaining ROS parameters
if (!obtainParams()) {
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