feat(tier4_autoware_utils): suppress too many warning of TF transform…

… failure Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Jun 8, 2024 · 253f999 · 253f999
1 parent 57786a7
commit 253f999
Showing 1 changed file with 6 additions and 4 deletions.
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/transform_listener.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/transform_listener.hpp
@@ -48,8 +48,9 @@ class TransformListener
     try {
       tf = tf_buffer_->lookupTransform(from, to, tf2::TimePointZero);
     } catch (tf2::TransformException & ex) {
-      RCLCPP_WARN(
-        logger_, "failed to get transform from %s to %s: %s", from.c_str(), to.c_str(), ex.what());
+      RCLCPP_WARN_THROTTLE(
+        logger_, *clock_, 5000, "failed to get transform from %s to %s: %s", from.c_str(),
+        to.c_str(), ex.what());
       return {};
     }
 
@@ -64,8 +65,9 @@ class TransformListener
     try {
       tf = tf_buffer_->lookupTransform(from, to, time, duration);
     } catch (tf2::TransformException & ex) {
-      RCLCPP_WARN(
-        logger_, "failed to get transform from %s to %s: %s", from.c_str(), to.c_str(), ex.what());
+      RCLCPP_WARN_THROTTLE(
+        logger_, *clock_, 5000, "failed to get transform from %s to %s: %s", from.c_str(),
+        to.c_str(), ex.what());
       return {};
     }