feat(radar_tracks_msgs_converter): add an error message and prevent t…

…he node from crashing. (#5400) * add an error message and prevent the node from crashing. Signed-off-by: Shunsuke Miura <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Shunsuke Miura <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Oct 26, 2023 · 98fe02b · 98fe02b
1 parent 801fd0d
commit 98fe02b
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/..._msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp b/..._msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
@@ -244,6 +244,11 @@ TrackedObjects RadarTracksMsgsConverterNode::convertRadarTrackToTrackedObjects()
       std::atan2(compensated_velocity.y, compensated_velocity.x));
 
     geometry_msgs::msg::PoseStamped transformed_pose_stamped{};
+    if (transform_ == nullptr) {
+      RCLCPP_ERROR_THROTTLE(
+        get_logger(), *get_clock(), 5000, "getTransform failed. radar output will be empty.");
+      return tracked_objects;
+    }
     tf2::doTransform(radar_pose_stamped, transformed_pose_stamped, *transform_);
     kinematics.pose_with_covariance.pose = transformed_pose_stamped.pose;
     kinematics.pose_with_covariance.pose.orientation =