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Suppress spam from calling canTransform #529

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merged 3 commits into from
Aug 23, 2022
Merged

Suppress spam from calling canTransform #529

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3946b6e
suppress spam in canTransform
Jan 31, 2022
b35dc1a
Uncrustify
Jun 1, 2022
00fa842
Suppress console spam in other calls to canTransform
jacobperron Jun 20, 2022
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16 changes: 12 additions & 4 deletions tf2_ros/src/buffer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}

Expand All @@ -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);
}

Expand Down Expand Up @@ -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)
{
Expand Down Expand Up @@ -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)
{
Expand Down