Suppress spam from calling canTransform (#529)

* suppress spam in canTransform * Uncrustify Signed-off-by: Gonzalo de Pedro <[email protected]> * Suppress console spam in other calls to canTransform The user has few options to workaround potential console spam from canTransform. If we want, it would be better to update the API to optional return the error string. Signed-off-by: Jacob Perron <[email protected]> Signed-off-by: Gonzalo de Pedro <[email protected]> Signed-off-by: Jacob Perron <[email protected]> Co-authored-by: Grigoriy Lipenko <[email protected]> Co-authored-by: Jacob Perron <[email protected]> (cherry picked from commit 8c2aa5a)
ros2 · Jul 24, 2023 · aeb2fa4 · aeb2fa4
1 parent 98b92f5
commit aeb2fa4
Showing 1 changed file with 12 additions and 4 deletions.
diff --git a/tf2_ros/src/buffer.cpp b/tf2_ros/src/buffer.cpp
@@ -91,7 +91,9 @@ Buffer::lookupTransform(
   const std::string & target_frame, const std::string & source_frame,
   const tf2::TimePoint & lookup_time, const tf2::Duration timeout) const
 {
-  canTransform(target_frame, source_frame, lookup_time, timeout);
+  // Pass error string to suppress console spam
+  std::string error;
+  canTransform(target_frame, source_frame, lookup_time, timeout, &error);
   return lookupTransform(target_frame, source_frame, lookup_time);
 }
 
@@ -114,7 +116,9 @@ Buffer::lookupTransform(
   const std::string & source_frame, const tf2::TimePoint & source_time,
   const std::string & fixed_frame, const tf2::Duration timeout) const
 {
-  canTransform(target_frame, target_time, source_frame, source_time, fixed_frame, timeout);
+  // Pass error string to suppress console spam
+  std::string error;
+  canTransform(target_frame, target_time, source_frame, source_time, fixed_frame, timeout, &error);
   return lookupTransform(target_frame, target_time, source_frame, source_time, fixed_frame);
 }
 
@@ -146,7 +150,9 @@ Buffer::canTransform(
   // poll for transform if timeout is set
   rclcpp::Time start_time = clock_->now();
   while (clock_->now() < start_time + rclcpp_timeout &&
-    !canTransform(target_frame, source_frame, time) &&
+    !canTransform(
+      target_frame, source_frame, time,
+      tf2::Duration(std::chrono::nanoseconds::zero()), errstr) &&
     (clock_->now() + rclcpp::Duration(3, 0) >= start_time) &&  // don't wait bag loop detected
     (rclcpp::ok()))  // Make sure we haven't been stopped (won't work for pytf)
   {
@@ -174,7 +180,9 @@ Buffer::canTransform(
   // poll for transform if timeout is set
   rclcpp::Time start_time = clock_->now();
   while (clock_->now() < start_time + rclcpp_timeout &&
-    !canTransform(target_frame, target_time, source_frame, source_time, fixed_frame) &&
+    !canTransform(
+      target_frame, target_time, source_frame, source_time, fixed_frame,
+      tf2::Duration(std::chrono::nanoseconds::zero()), errstr) &&
     (clock_->now() + rclcpp::Duration(3, 0) >= start_time) &&  // don't wait bag loop detected
     (rclcpp::ok()))  // Make sure we haven't been stopped (won't work for pytf)
   {