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static tf broadcaster: workaround transient local durability (refactor branch) #88

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Oct 25, 2019
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static tf broadcaster: workaround transient local durability (refactor branch) #88

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4 changes: 2 additions & 2 deletions realsense_ros/include/realsense/rs_base.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@ class RealSenseBase
std::string base_frame_id_;

std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_tf_broadcaster_;

rclcpp::TimerBase::SharedPtr timer_;
std::map<stream_index_pair, bool> enable_ = {{COLOR, false}, {DEPTH, false},
{INFRA1, false}, {INFRA2, false},
{ACCEL, false}, {GYRO, false},
Expand All @@ -119,4 +119,4 @@ class RealSenseBase
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;
};
} // namespace realsense
#endif // REALSENSE__RS_BASE_HPP_
#endif // REALSENSE__RS_BASE_HPP_
8 changes: 6 additions & 2 deletions realsense_ros/src/rs_base.cpp
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Expand Up @@ -51,7 +51,11 @@ void RealSenseBase::startPipeline()

if (enable_[DEPTH] == true) {
auto base_profile = p_profile.get_stream(RS2_STREAM_DEPTH, 0);
publishStaticTransforms(base_profile, active_profiles);
auto pub_tf = [this, base_profile, active_profiles]() -> void {
this->publishStaticTransforms(base_profile, active_profiles);
};

timer_ = node_.create_wall_timer(std::chrono::seconds(1), pub_tf);
} else if (enable_[POSE] == true) {
auto base_profile = p_profile.get_stream(RS2_STREAM_POSE, 0);
publishStaticTransforms(base_profile, active_profiles);
Expand Down Expand Up @@ -270,7 +274,7 @@ void RealSenseBase::composeTFMsgAndPublish(const rclcpp::Time & t, const Float3
const std::string & to)
{
geometry_msgs::msg::TransformStamped msg;
RCLCPP_INFO(node_.get_logger(), "Publish Static TF from %s to %s", from.c_str(), to.c_str());
RCLCPP_DEBUG(node_.get_logger(), "Publish Static TF from %s to %s", from.c_str(), to.c_str());
msg.header.stamp = t;
msg.header.frame_id = from;
msg.child_frame_id = to;
Expand Down