forward porting ros-navigation#3053 (ros-navigation#3064) (ros-naviga…

…tion#3070) * forward porting ros-navigation#3053 * adding TF warning suggestion (cherry picked from commit bb0d177) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
RobotCodeLab · Sep 12, 2022 · 83d592a · 83d592a
1 parent 4e186fa
commit 83d592a
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/nav2_costmap_2d/plugins/range_sensor_layer.cpp b/nav2_costmap_2d/plugins/range_sensor_layer.cpp
@@ -293,7 +293,9 @@ void RangeSensorLayer::updateCostmap(
   in.header.frame_id = range_message.header.frame_id;
 
   if (!tf_->canTransform(
-      in.header.frame_id, global_frame_, tf2_ros::fromMsg(in.header.stamp)))
+      in.header.frame_id, global_frame_,
+      tf2_ros::fromMsg(in.header.stamp),
+      tf2_ros::fromRclcpp(transform_tolerance_)))
   {
     RCLCPP_INFO(
       logger_, "Range sensor layer can't transform from %s to %s",

diff --git a/nav2_costmap_2d/test/integration/range_tests.cpp b/nav2_costmap_2d/test/integration/range_tests.cpp
@@ -115,6 +115,7 @@ class TestNode : public ::testing::Test
   : node_(std::make_shared<TestLifecycleNode>("range_test_node")),
     tf_(node_->get_clock())
   {
+    tf_.setUsingDedicatedThread(true);
     // Standard non-plugin specific parameters
     node_->declare_parameter("map_topic", rclcpp::ParameterValue(std::string("map")));
     node_->declare_parameter("track_unknown_space", rclcpp::ParameterValue(false));