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1 | initial version |
hello,
you may check out waitForTransform()
bool tf::TransformListener::waitForTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01), std::string *error_msg=NULL) const
Test if source_frame can be transformed to target_frame at time time. The waitForTransform() methods return a bool whether the transform can be evaluated. It will sleep and retry every polling_duration until the duration of timeout has been passed. It will not throw. If you pass a non NULL string pointer it will fill the string error_msg in the case of an error. (Note: That this takes notably more resources to generate the error message.)
2 | No.2 Revision |
hello,
you may check out waitForTransform()
bool tf::TransformListener::waitForTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01), std::string *error_msg=NULL) const
Test if source_frame can be transformed to target_frame at time time. The waitForTransform() methods return a bool whether the transform can be evaluated. It will sleep and retry every polling_duration until the duration of timeout has been passed. It will not throw. If you pass a non NULL string pointer it will fill the string error_msg in the case of an error. (Note: That this takes notably more resources to generate the error message.)
or
The canTransform() methods return a bool whether the transform can be evaluated. It will not throw. If you pass a non NULL string pointer it will fill the string error_msg in the case of an error.
bool tf::TransformListener::canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, std::string *error_msg=NULL) const