use ros::Time(0) for lookupTransform

fmessmer · fmessmer · commit 2e9d4ff4fc0e · 2019-11-12T08:09:41.000+01:00
diff --git a/src/frame_publisher.cpp b/src/frame_publisher.cpp
@@ -75,11 +75,10 @@ bool FramePublisher::initialize()
 /// Broadcast a new frame based on a given transformation from_frame -> to_frame - resetting either translation and/or individual rotation axes to zero
 void FramePublisher::frameBroadcastCallback(const ros::TimerEvent& event)
 {
-  ros::Time time = event.current_real;
   geometry_msgs::TransformStamped transform_msg;
   try
   {
-    transform_msg = tf_buffer_.lookupTransform(from_frame_, to_frame_, time, ros::Duration(0.1));
+    transform_msg = tf_buffer_.lookupTransform(from_frame_, to_frame_, ros::Time(0), ros::Duration(0.1));
     ROS_DEBUG_STREAM("FramePublisher::frameBroadcastCallback: transform_msg:\n" << transform_msg);
   }
   catch (tf2::TransformException& ex)

Original file line number	Diff line number	Diff line change
`@@ -75,11 +75,10 @@ bool FramePublisher::initialize()`
`75`	`75`	`/// Broadcast a new frame based on a given transformation from_frame -> to_frame - resetting either translation and/or individual rotation axes to zero`
`76`	`76`	`void FramePublisher::frameBroadcastCallback(const ros::TimerEvent& event)`
`77`	`77`	`{`
`78`		`- ros::Time time = event.current_real;`
`79`	`78`	`geometry_msgs::TransformStamped transform_msg;`
`80`	`79`	`try`
`81`	`80`	`{`
`82`		`- transform_msg = tf_buffer_.lookupTransform(from_frame_, to_frame_, time, ros::Duration(0.1));`
	`81`	`+ transform_msg = tf_buffer_.lookupTransform(from_frame_, to_frame_, ros::Time(0), ros::Duration(0.1));`
`83`	`82`	`ROS_DEBUG_STREAM("FramePublisher::frameBroadcastCallback: transform_msg:\n" << transform_msg);`
`84`	`83`	`}`
`85`	`84`	`catch (tf2::TransformException& ex)`