Backport 2518 (#2677)

Co-authored-by: Matthijs den Toom <[email protected]>

Author: mdtoom

nav2_amcl/src/amcl_node.cpp

@@ -1246,7 +1246,7 @@ AmclNode::initMessageFilters()
     rclcpp_node_.get(), scan_topic_, rmw_qos_profile_sensor_data);
 
   laser_scan_filter_ = std::make_unique<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>>(
-    *laser_scan_sub_, *tf_buffer_, odom_frame_id_, 10, rclcpp_node_);
+    *laser_scan_sub_, *tf_buffer_, odom_frame_id_, 10, rclcpp_node_, transform_tolerance_);
 
   laser_scan_connection_ = laser_scan_filter_->registerCallback(
     std::bind(

nav2_costmap_2d/plugins/obstacle_layer.cpp

@@ -205,7 +205,7 @@ void ObstacleLayer::onInitialize()
 
       std::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>> filter(
         new tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>(
-          *sub, *tf_, global_frame_, 50, rclcpp_node_));
+          *sub, *tf_, global_frame_, 50, rclcpp_node_, tf2::durationFromSec(transform_tolerance)));
 
       if (inf_is_valid) {
         filter->registerCallback(
@@ -239,7 +239,7 @@ void ObstacleLayer::onInitialize()
 
       std::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>> filter(
         new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(
-          *sub, *tf_, global_frame_, 50, rclcpp_node_));
+          *sub, *tf_, global_frame_, 50, rclcpp_node_, tf2::durationFromSec(transform_tolerance)));
 
       filter->registerCallback(
         std::bind(