Merge pull request #1696 from tier4/hotfix/v3.0.3/surround-obstacle-c…

…hecker-tf fix(surround_obstacle_checker): use tf2::TimePointZero
tier4 · Dec 12, 2024 · b85ee97 · b85ee97
2 parents f8fed79 + 1479b91
commit b85ee97
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Showing 2 changed files with 5 additions and 10 deletions.
diff --git a/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp b/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp
@@ -99,8 +99,7 @@ class SurroundObstacleCheckerNode : public rclcpp::Node
   std::optional<Obstacle> getNearestObstacleByDynamicObject() const;
 
   std::optional<geometry_msgs::msg::TransformStamped> getTransform(
-    const std::string & source, const std::string & target, const rclcpp::Time & stamp,
-    double duration_sec) const;
+    const std::string & source, const std::string & target) const;
 
   bool isStopRequired(const bool is_obstacle_found, const bool is_stopped);
 

diff --git a/planning/surround_obstacle_checker/src/node.cpp b/planning/surround_obstacle_checker/src/node.cpp
@@ -424,8 +424,7 @@ std::optional<Obstacle> SurroundObstacleCheckerNode::getNearestObstacleByPointCl
     return std::nullopt;
   }
 
-  const auto transform_stamped =
-    getTransform("base_link", pointcloud_ptr_->header.frame_id, pointcloud_ptr_->header.stamp, 0.5);
+  const auto transform_stamped = getTransform("base_link", pointcloud_ptr_->header.frame_id);
 
   if (!transform_stamped) {
     return std::nullopt;
@@ -468,8 +467,7 @@ std::optional<Obstacle> SurroundObstacleCheckerNode::getNearestObstacleByDynamic
 {
   if (!object_ptr_ || !use_dynamic_object_) return std::nullopt;
 
-  const auto transform_stamped =
-    getTransform(object_ptr_->header.frame_id, "base_link", object_ptr_->header.stamp, 0.5);
+  const auto transform_stamped = getTransform(object_ptr_->header.frame_id, "base_link");
 
   if (!transform_stamped) {
     return std::nullopt;
@@ -522,14 +520,12 @@ std::optional<Obstacle> SurroundObstacleCheckerNode::getNearestObstacleByDynamic
 }
 
 std::optional<geometry_msgs::msg::TransformStamped> SurroundObstacleCheckerNode::getTransform(
-  const std::string & source, const std::string & target, const rclcpp::Time & stamp,
-  double duration_sec) const
+  const std::string & source, const std::string & target) const
 {
   geometry_msgs::msg::TransformStamped transform_stamped;
 
   try {
-    transform_stamped =
-      tf_buffer_.lookupTransform(source, target, stamp, tf2::durationFromSec(duration_sec));
+    transform_stamped = tf_buffer_.lookupTransform(source, target, tf2::TimePointZero);
   } catch (tf2::TransformException & ex) {
     return {};
   }