add timeout for lookupTransform to avoid extrapolation errors (#417)

Signed-off-by: Daisuke Sato <[email protected]>
ros-perception · Jun 7, 2023 · b2dcad2 · b2dcad2
1 parent 33dbb3b
commit b2dcad2
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/pcl_ros/src/transforms.cpp b/pcl_ros/src/transforms.cpp
@@ -77,7 +77,7 @@ transformPointCloud(
     transform =
       tf_buffer.lookupTransform(
       target_frame, in.header.frame_id, tf2_ros::fromMsg(
-        in.header.stamp));
+        in.header.stamp), tf2::Duration(std::chrono::seconds(1)));
   } catch (tf2::LookupException & e) {
     RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
     return false;