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Bug/tf timeout blocking #113

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Bug/tf timeout blocking #113

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ff300ae
Implement configurable frames for virtual objects
erblinium Feb 8, 2023
0f82f09
Add ensenso and halcon calibration plates to virtual object handler
Jun 9, 2023
1e73cf6
Avoid tf lookup timeout by using last available transform
Jun 14, 2023
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1 change: 1 addition & 0 deletions ensenso_camera/include/ensenso_camera/virtual_object_handler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@ class VirtualObjectHandler

/// Original object transforms in the base frame
std::vector<tf2::Transform> originalTransforms;
std::vector<std::string> objectFrames;

std::string objectsFrame; ///< Frame in which objects are defined
std::string linkFrame; ///< Link frame where NxLib expects the objects to be defined
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7 changes: 4 additions & 3 deletions ensenso_camera/src/camera.cpp
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Expand Up @@ -392,9 +392,10 @@ void Camera::updateGlobalLink(ensenso::ros::Time time, std::string targetFrame,
}
else
{
transformMsg = tfBuffer->lookupTransform(params.linkFrame, targetFrame, time,
ensenso::ros::durationFromSeconds(TF_REQUEST_TIMEOUT));
transformationCache[targetFrame] = transformMsg;
// transformMsg = tfBuffer->lookupTransform(params.linkFrame, targetFrame, time,
// ensenso::ros::durationFromSeconds(TF_REQUEST_TIMEOUT));
transformMsg = tfBuffer->lookupTransform(params.linkFrame, targetFrame, ensenso::ros::Time{0});
transformationCache[targetFrame] = transformMsg;
}
tf2::Transform transform;
tf2::convert(transformMsg.transform, transform);
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