[tf2] Output canTransform msg only on state change #491
Conversation
Signed-off-by: Abrar Rahman Protyasha <[email protected]>
|
It's been a while since I've done this... can anyone run CI please? |
|
Gist: https://gist.githubusercontent.com/emersonknapp/db372988ab86273a8125101ee006afb5/raw/e4913ecebdf892a47f59a89cb0cafa3265432f5a/ros2.repos
|
There was a problem hiding this comment.
Separately from the static scoping issue. I don't think that this is a good heuristic to add.
If you make the assumption that the frame will become available it will reduce the number of warnings on startup when you're querying before the buffer has been filled. However this will also potentially suppress all warnings for users who fail to create transform publishers and they will potentially sit with a running system without warnings, yet it cannot run correctly so they should be getting warnings.
An advanced user can choose to suppress the warnings in various ways. But we should not make it silently fail to warn the user for an warning message that they asked for (by passing in the error_msg non-null pointer.
This can lead to very unanticipated behaviors such as the system is silent for some period of time and suddenly it starts publishing warnings when a tf publisher comes online because it is publishing unrelated content. Causing the user to believe that adding the publisher caused the warnings, instead of knowing that this has been an issue all along, and continues to be an issue.
| @@ -113,8 +113,13 @@ CompactFrameID BufferCore::validateFrameId( | |||
| return 0; | |||
| } | |||
|
|
|||
| // Only check that a frame is non-existent once a frame was found | |||
| static bool init_state = true; | |||
There was a problem hiding this comment.
A static variable here is not correct. It will not correctly interact with potentially multiple BufferCore instances and doesn't deal with resetting the core.
The "frame does not exist" error message in
BufferCore::validateFrameIdis noisy and not warranted if a frame never existed to begin with, so
that message is only outputted once a state change has occurred - i.e.
any frame was found.
Fixes #358.
Signed-off-by: Abrar Rahman Protyasha [email protected]