Warning Message Intervals for canTransform (#663)

CursedRock17 · web-flow · commit f63c7ae2f3cc · 2024-04-04T15:51:56.000+02:00
Signed-off-by: CursedRock17 &lt;mtglucas1@gmail.com&gt;
diff --git a/tf2/include/tf2/buffer_core.h b/tf2/include/tf2/buffer_core.h
@@ -46,11 +46,11 @@
 
 #include "LinearMath/Transform.h"
 #include "geometry_msgs/msg/transform_stamped.hpp"
+#include "rcutils/logging_macros.h"
 #include "tf2/buffer_core_interface.h"
 #include "tf2/exceptions.h"
 #include "tf2/transform_storage.h"
 #include "tf2/visibility_control.h"
-#include "rcutils/logging_macros.h"
 
 namespace tf2
 {
diff --git a/tf2/src/buffer_core.cpp b/tf2/src/buffer_core.cpp
@@ -89,7 +89,10 @@ void fillOrWarnMessageForInvalidFrame(
   if (error_msg != nullptr) {
     *error_msg = s;
   } else {
-    RCUTILS_LOG_WARN("%s", s.c_str());
+    static constexpr std::chrono::milliseconds warning_interval =
+      std::chrono::milliseconds(2500);
+
+    RCUTILS_LOG_WARN_THROTTLE(RCUTILS_STEADY_TIME, warning_interval.count(), "%s", s.c_str());
   }
 }
 

Original file line number	Diff line number	Diff line change
`@@ -89,7 +89,10 @@ void fillOrWarnMessageForInvalidFrame(`
`89`	`89`	`if (error_msg != nullptr) {`
`90`	`90`	`*error_msg = s;`
`91`	`91`	`} else {`
`92`		`- RCUTILS_LOG_WARN("%s", s.c_str());`
	`92`	`+ static constexpr std::chrono::milliseconds warning_interval =`
	`93`	`+ std::chrono::milliseconds(2500);`
	`94`	`+`
	`95`	`+ RCUTILS_LOG_WARN_THROTTLE(RCUTILS_STEADY_TIME, warning_interval.count(), "%s", s.c_str());`
`93`	`96`	`}`
`94`	`97`	`}`
`95`	`98`