bool
Buffer::canTransform(const std::string& target_frame, const std::string& source_frame,
const ros::Time& time, const ros::Duration timeout, std::string* errstr) const
{
// poll for transform if timeout is set
ros::Time start_time = ros::Time::now();
while (ros::Time::now() < start_time + timeout &&
!canTransform(target_frame, source_frame, time))
ros::Duration(0.01).sleep();
return canTransform(target_frame, source_frame, time, errstr);
}
geometry_msgs::TransformStamped
Buffer::lookupTransform(const std::string& target_frame, const std::string& source_frame,
const ros::Time& time, const ros::Duration timeout) const
{
canTransform(target_frame, source_frame, time, timeout);
return lookupTransform(target_frame, source_frame, time);
}
bool
Buffer::canTransform(const std::string& target_frame, const std::string& source_frame,
const ros::Time& time, const ros::Duration timeout, std::string* errstr) const
{
if (!checkAndErrorDedicatedThreadPresent(errstr))
return false;
// poll for transform if timeout is set
ros::Time start_time = now_fallback_to_wall();
while (now_fallback_to_wall() < start_time + timeout &&
!canTransform(target_frame, source_frame, time) &&
(now_fallback_to_wall()+ros::Duration(3.0) >= start_time) && //don't wait when we detect a bag loop
(ros::ok() || !ros::isInitialized())) // Make sure we haven't been stopped (won't work for pytf)
{
sleep_fallback_to_wall(ros::Duration(0.01));
}
bool retval = canTransform(target_frame, source_frame, time, errstr);
conditionally_append_timeout_info(errstr, start_time, timeout);
return retval;
}
