Hodgepodge of fixes

2026-04-16 02:51:43 +02:00
parent d0ffceebe1
commit 18ef55a204
4 changed files with 27 additions and 5 deletions
--- a/toid_lidar/src/toid_lidar_node.cpp
+++ b/toid_lidar/src/toid_lidar_node.cpp
@@ -47,7 +47,7 @@ void ToidRivalDetect::process_scan(LaserScan::ConstSharedPtr msg)
  geometry_msgs::msg::TransformStamped transform;

  try {
-    transform = tf_buf_->lookupTransform(global_frame_, msg->header.frame_id, msg->header.stamp);
+    transform = tf_buf_->lookupTransform(global_frame_, msg->header.frame_id, tf2::TimePointZero);
  } catch (const tf2::TransformException & e) {
    RCLCPP_WARN_THROTTLE(
      this->get_logger(), *this->get_clock(), 1000, "TF Link missing: %s", e.what());