Function bitbots_utils::wait_for_tf

Function Documentation

void bitbots_utils::wait_for_tf(const rclcpp::Logger &logger, std::shared_ptr<rclcpp::Clock> clock, tf2_ros::Buffer *tf_buffer, const std::vector<std::string> &frames, const std::string &root_frame, const rclcpp::Duration &check_interval = rclcpp::Duration(0.1s), const rclcpp::Duration &warn_duration = rclcpp::Duration(5.0s), const rclcpp::Duration &warn_interval = rclcpp::Duration(1.0s), bool verbose = true)

Waits for the transforms to be available.

Parameters

  • logger – The logger to use for logging

  • clock – The clock to use for time

  • tf_buffer – The tf buffer to use

  • frames – The tf frames to wait for

  • root_frame – The root frame to transform from

  • check_interval – Interval in which to check for the frames

  • warn_duration – Duration after which to warn if the frames are not available

  • warn_interval – Interval in which to keep warning if the frames are not available

  • verbose – Can be used to disable the warning messages