frame_manager: disable separate thread for tf listener to avoid tf race conditions during update cycle of all displays and cameras

During update cycle of displays and views (cameras) the tf buffer should not be updated. Otherwise it is possible that displays or cameras, which are updated at a later point in time within the cycle, use a more recent transform. This leads to undesired jittering of visuals. This affects displays, which use the latest available transform with ros::Time(). And all views/cameras as they always use the latest available transform.

Author: AndreasR30

src/rviz/frame_manager.cpp

@@ -47,7 +47,7 @@ FrameManager::FrameManager(std::shared_ptr<tf2_ros::Buffer> tf_buffer,
       tf_buffer ? std::move(tf_buffer) : std::make_shared<tf2_ros::Buffer>(ros::Duration(10 * 60));
   tf_listener_ = tf_listener ?
                      std::move(tf_listener) :
-                     std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, ros::NodeHandle(), true);
+                     std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, ros::NodeHandle(), false);
 
   setSyncMode(SyncOff);
   setPause(false);