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Adding this line solved the problem:

listener.waitForTransform("base_link", "odom", ros::Time(0),
            ros::Duration(3.0));

so the final code is:

try {

    listener.waitForTransform("base_link", "odom", ros::Time(0),
            ros::Duration(3.0));
    listener.lookupTransform("/base_link", "/odom", ros::Time(0),
            transform);
} catch (tf::TransformException ex) {
    ROS_ERROR("%s", ex.what());
}