From 932e87fde0614e9342e8889c7961f103e615e4e3 Mon Sep 17 00:00:00 2001
From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Mon, 16 Dec 2024 12:18:07 +0900
Subject: [PATCH] chore(autoware_costmap_generator): suppress Could not find a
 connection between 'map' and 'base_link' (#9655)

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
---
 .../autoware_costmap_generator/src/costmap_generator.cpp  | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/planning/autoware_costmap_generator/src/costmap_generator.cpp b/planning/autoware_costmap_generator/src/costmap_generator.cpp
index 052bb2728a3b1..081a6ead91cda 100644
--- a/planning/autoware_costmap_generator/src/costmap_generator.cpp
+++ b/planning/autoware_costmap_generator/src/costmap_generator.cpp
@@ -51,6 +51,7 @@
 #include <autoware_lanelet2_extension/utility/utilities.hpp>
 #include <autoware_lanelet2_extension/visualization/visualization.hpp>
 #include <pcl_ros/transforms.hpp>
+#include <rclcpp/clock.hpp>
 #include <rclcpp/logging.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 
@@ -68,14 +69,15 @@ namespace
 
 // Copied from scenario selector
 geometry_msgs::msg::PoseStamped::ConstSharedPtr getCurrentPose(
-  const tf2_ros::Buffer & tf_buffer, const rclcpp::Logger & logger)
+  const tf2_ros::Buffer & tf_buffer, const rclcpp::Logger & logger,
+  const rclcpp::Clock::SharedPtr clock)
 {
   geometry_msgs::msg::TransformStamped tf_current_pose;
 
   try {
     tf_current_pose = tf_buffer.lookupTransform("map", "base_link", tf2::TimePointZero);
   } catch (tf2::TransformException & ex) {
-    RCLCPP_ERROR(logger, "%s", ex.what());
+    RCLCPP_ERROR_THROTTLE(logger, *clock, 5000, "%s", ex.what());
     return nullptr;
   }
 
@@ -253,7 +255,7 @@ void CostmapGenerator::update_data()
 
 void CostmapGenerator::set_current_pose()
 {
-  current_pose_ = getCurrentPose(tf_buffer_, this->get_logger());
+  current_pose_ = getCurrentPose(tf_buffer_, this->get_logger(), this->get_clock());
 }
 
 void CostmapGenerator::onTimer()