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[Melodic] Fixes timestamp in waitForTransform #231

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[Melodic] Fixes timestamp in waitForTransform #231

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8 changes: 4 additions & 4 deletions bayes_people_tracker/src/bayes_people_tracker/people_tracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -249,7 +249,7 @@ void PeopleTracker::trackingThread() {
if(strcmp(target_frame.c_str(), base_frame.c_str())) {
try{
ROS_DEBUG("Transforming received position into %s coordinate system.", base_frame.c_str());
listener->waitForTransform(poseInTargetCoords.header.frame_id, base_frame, poseInTargetCoords.header.stamp, ros::Duration(3.0));
listener->waitForTransform(poseInTargetCoords.header.frame_id, base_frame, ros::Time(0), ros::Duration(3.0));
listener->transformPose(base_frame, ros::Time(0), poseInTargetCoords, poseInTargetCoords.header.frame_id, poseInRobotCoords);
} catch(tf::TransformException ex) {
ROS_WARN("Failed transform: %s", ex.what());
Expand Down Expand Up @@ -527,7 +527,7 @@ void PeopleTracker::detectorCallback(const geometry_msgs::PoseArray::ConstPtr &p
try {
// Transform into given traget frame. Default /map
ROS_DEBUG("Transforming received position into %s coordinate system.", target_frame.c_str());
listener->waitForTransform(poseInCamCoords.header.frame_id, target_frame, poseInCamCoords.header.stamp, ros::Duration(3.0));
listener->waitForTransform(poseInCamCoords.header.frame_id, target_frame, ros::Time(0), ros::Duration(3.0));
listener->transformPose(target_frame, ros::Time(0), poseInCamCoords, poseInCamCoords.header.frame_id, poseInTargetCoords);
}
catch(tf::TransformException ex) {
Expand Down Expand Up @@ -588,7 +588,7 @@ void PeopleTracker::detectorCallback_people(const people_msgs::People::ConstPtr
try {
// Transform into given traget frame. Default /map
ROS_DEBUG("Transforming received position into %s coordinate system.", target_frame.c_str());
listener->waitForTransform(poseInCamCoords.header.frame_id, target_frame, poseInCamCoords.header.stamp, ros::Duration(3.0));
listener->waitForTransform(poseInCamCoords.header.frame_id, target_frame, ros::Time(0), ros::Duration(3.0));
listener->transformPose(target_frame, ros::Time(0), poseInCamCoords, poseInCamCoords.header.frame_id, poseInTargetCoords);
}
catch(tf::TransformException ex) {
Expand Down Expand Up @@ -650,7 +650,7 @@ void PeopleTracker::detectorCallback_peoplestamped(const bayes_people_tracker::P
try {
// Transform into given traget frame. Default /map
ROS_DEBUG("Transforming received position into %s coordinate system.", target_frame.c_str());
listener->waitForTransform(poseInCamCoords.header.frame_id, target_frame, poseInCamCoords.header.stamp, ros::Duration(3.0));
listener->waitForTransform(poseInCamCoords.header.frame_id, target_frame, ros::Time(0), ros::Duration(3.0));
listener->transformPose(target_frame, ros::Time(0), poseInCamCoords, poseInCamCoords.header.frame_id, poseInTargetCoords);
}
catch(tf::TransformException ex) {
Expand Down