Fixed tf_buffer_ not being initialized

docker-compose.yaml

@@ -1,6 +1,7 @@
 services:
   toid:
     image: localhost:5000/toid 
+    build: .
     container_name: toid
 
     privileged: true

firmware/base/src/config.h

@@ -24,7 +24,8 @@
 #define ENCODER_LEFT_PIN_B  13
 #define ENCODER_CPR         3840
 
-#define WHEEL_RADIUS     0.0300
-#define WHEEL_SEPARATION 0.264
+//#define WHEEL_RADIUS     (0.0300 * 1.01483541)
+#define WHEEL_RADIUS     0.028
+#define WHEEL_SEPARATION 0.271
 #define TIMER_CYCLE_US   1000
 //======================================================

firmware/base/src/main.c

@@ -62,8 +62,8 @@ typedef struct calib_diff_t {
 } calib_diff_t;
 
 static calib_diff_t calib_enc = {
-    .left_gain = 1.000,
-    .right_gain = 1.0000
+    .left_gain = 1.0,  
+    .right_gain = 1.0,
 };
 
 void update_pos_cb() {

toid_bt/src/bt_executor.cpp

@@ -19,9 +19,10 @@ TreeExecutor::TreeExecutor(const rclcpp::NodeOptions opts)
   /* 
   executeRegistration();
   std::cout << BT::writeTreeNodesModelXML(factory()) << std::endl;
+  */
   tf_buffer_ = std::make_shared<tf2_ros::Buffer>(node()->get_clock());
   tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
-  */
+  
 
   nav2_util::declare_parameter_if_not_declared(
     node(), "base_frame", rclcpp::ParameterValue("base_footprint"));