Merge pull request #8 from aerostack2/tf_utils_timeout

Read timeout from TfHandler
aerostack2 · Dec 4, 2024 · 087bc60 · 087bc60
2 parents 6d99f13 + 47d7420
commit 087bc60
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Showing 2 changed files with 1 addition and 11 deletions.
diff --git a/include/as2_platform_dji_psdk/as2_platform_dji_psdk.hpp b/include/as2_platform_dji_psdk/as2_platform_dji_psdk.hpp
@@ -90,7 +90,6 @@ class DJIMatricePSDKPlatform : public as2::AerialPlatform
 
   // Gimbal
   as2::tf::TfHandler tf_handler_;
-  std::chrono::nanoseconds tf_timeout_;
   bool enable_gimbal_;
   psdk_interfaces::msg::GimbalRotation gimbal_command_msg_;
   rclcpp::Time last_gimbal_command_time_;

diff --git a/src/as2_platform_dji_psdk.cpp b/src/as2_platform_dji_psdk.cpp
@@ -111,15 +111,6 @@ void DJIMatricePSDKPlatform::configureSensors()
   sensor_odom_ptr_ = std::make_unique<as2::sensors::Sensor<nav_msgs::msg::Odometry>>("odom", this);
   RCLCPP_INFO(this->get_logger(), "DJIMatricePSDKPlatform odometry sensor configured");
 
-  // Read tf_timeout_threshold
-  double tf_timeout_threshold;
-  this->declare_parameter<double>("tf_timeout_threshold", 0.5);
-  this->get_parameter("tf_timeout_threshold", tf_timeout_threshold);
-  tf_timeout_ = std::chrono::duration_cast<std::chrono::nanoseconds>(
-    std::chrono::duration<double>(tf_timeout_threshold));
-  RCLCPP_INFO(
-    this->get_logger(), "DJIMatricePSDKPlatform tf_timeout_threshold: %f", tf_timeout_threshold);
-
   // Initialize the camera streaming service
   this->declare_parameter<bool>("enable_camera", false);
   bool enable_camera;
@@ -396,7 +387,7 @@ void DJIMatricePSDKPlatform::gimbalControlCallback(
   desired_earth_orientation = desired_base_link_orientation;
 
   std::string target_frame = "earth";  // Earth frame
-  if (!tf_handler_.tryConvert(desired_earth_orientation, target_frame, tf_timeout_)) {
+  if (!tf_handler_.tryConvert(desired_earth_orientation, target_frame)) {
     RCLCPP_ERROR(
       this->get_logger(), "Could not transform desired gimbal orientation to earth frame");
     return;