fix tf lookup timestamps

fmessmer · fmessmer · commit 70451e8fc6fb · 2017-12-19T14:54:40.000+01:00
diff --git a/src/frame_publisher.cpp b/src/frame_publisher.cpp
@@ -68,8 +68,9 @@ void FramePublisher::frameBroadcastCallback(const ros::TimerEvent& event)
   tf::StampedTransform frame_transform;
   try
   {
-    tf_listener_.waitForTransform(base_frame_, rotation_frame_, event.current_real, ros::Duration(0.1));
-    tf_listener_.lookupTransform(base_frame_, rotation_frame_, ros::Time(0), frame_transform);
+    ros::Time time = event.current_real;
+    tf_listener_.waitForTransform(base_frame_, rotation_frame_, time, ros::Duration(0.1));
+    tf_listener_.lookupTransform(base_frame_, rotation_frame_, time, frame_transform);
   }
   catch (tf::TransformException& ex)
   {

Original file line number	Diff line number	Diff line change
`@@ -68,8 +68,9 @@ void FramePublisher::frameBroadcastCallback(const ros::TimerEvent& event)`
`68`	`68`	`tf::StampedTransform frame_transform;`
`69`	`69`	`try`
`70`	`70`	`{`
`71`		`- tf_listener_.waitForTransform(base_frame_, rotation_frame_, event.current_real, ros::Duration(0.1));`
`72`		`- tf_listener_.lookupTransform(base_frame_, rotation_frame_, ros::Time(0), frame_transform);`
	`71`	`+ ros::Time time = event.current_real;`
	`72`	`+ tf_listener_.waitForTransform(base_frame_, rotation_frame_, time, ros::Duration(0.1));`
	`73`	`+ tf_listener_.lookupTransform(base_frame_, rotation_frame_, time, frame_transform);`
`73`	`74`	`}`
`74`	`75`	`catch (tf::TransformException& ex)`
`75`	`76`	`{`