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Catching lookupTransform() #925

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Catching lookupTransform() #925

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22 changes: 14 additions & 8 deletions tf2_ros/include/tf2_ros/message_filter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -497,14 +497,20 @@ class MessageFilter : public MessageFilterBase, public message_filters::SimpleFi
const auto & handle = std::get<0>(param);
const auto & stamp = std::get<1>(param);
const auto & target_frame = std::get<2>(param);
tf2_ros::TransformStampedFuture future = buffer_.waitForTransform(
target_frame,
frame_id,
stamp,
buffer_timeout_,
std::bind(&MessageFilter::transformReadyCallback, this, std::placeholders::_1, handle));

// If handle of future is 0 or 0xffffffffffffffffULL, waitForTransform have already called
tf2_ros::TransformStampedFuture future;
try {
future = buffer_.waitForTransform(
target_frame,
frame_id,
stamp,
buffer_timeout_,
std::bind(&MessageFilter::transformReadyCallback, this, std::placeholders::_1, handle));
} catch (const tf2::TransformException & ex) {
RCLCPP_ERROR(node->get_logger(), "waitForTransform failed: %s", ex.what());
continue;
}

// If handle of future is 0 or 0xffffffffffffffffULL, waitForTransform has already called
// the callback.
if (0 != future.getHandle() && 0xffffffffffffffffULL != future.getHandle()) {
std::unique_lock<std::mutex> lock(ts_futures_mutex_);
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