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[ObstacleLayer] Use message_filter timeout #2518

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Merged
merged 3 commits into from
Aug 17, 2021
Merged

[ObstacleLayer] Use message_filter timeout #2518

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a02169c
, tf2::durationFromSec(transform_tolerance)
Aug 13, 2021
4a1dcce
use message_filter timeout in AMCL
Aug 17, 2021
16af26a
also for sensor_msgs::msg::PointCloud2
Aug 17, 2021
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2 changes: 1 addition & 1 deletion nav2_costmap_2d/plugins/obstacle_layer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -218,7 +218,7 @@ 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(
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