Formating + debug output

toid_vision/include/toid_vision/toid_vision.hpp

@@ -18,6 +18,9 @@
 #include "tf2/LinearMath/Transform.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
+#include "tf2_ros/transform_listener.hpp"
+#include "tf2_ros/buffer.hpp"
+
 namespace toid
 {
 
@@ -27,7 +30,7 @@ class NutDetector : public rclcpp::Node
     sensor_msgs::msg::CompressedImage, sensor_msgs::msg::CameraInfo>;
 
 public:
-  NutDetector(const rclcpp::NodeOptions &options);
+  NutDetector(const rclcpp::NodeOptions & options);
 
 public:
   void compressed_topic_callback(
@@ -46,7 +49,6 @@ public:
   message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cam_info_sub_;
   std::shared_ptr<message_filters::Synchronizer<SyncPolicy>> sync_;
 
-
   rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pose_pub_;
   rclcpp::Publisher<std_msgs::msg::String>::SharedPtr flip_pub_;
 
@@ -59,9 +61,11 @@ public:
 
   cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
   cv::Ptr<cv::aruco::Dictionary> dictionary_;
-  
 
   message_filters::Subscriber<sensor_msgs::msg::Image> img_sub_;
+
+  tf2_ros::Buffer::SharedPtr tf_;
+  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
 };
 
 }  // namespace toid