tf2, thread, setUsingDedicatedThread, timeout

edit

I'm migrating part of my code to tf2. Big chunk of my code is library that can run online or offline, so I pass at construction time a reference to a tf2_ros::Buffer object. It is then used to lookup transforms or transform some stamped data. The buffer is updated "manually" using setTransform.

I get the tf2_ros::threading_error message.

the stack is as follow:

0   tf2_ros::Buffer::checkAndErrorDedicatedThreadPresent    buffer.cpp  158 0x7ffff711d487  
1   tf2_ros::Buffer::canTransform   buffer.cpp  107 0x7ffff711cf12  
2   tf2_ros::Buffer::lookupTransform    buffer.cpp  54  0x7ffff711cbf6  
3   tf2_ros::BufferInterface::transform<geometry_msgs::PointStamped_<std::allocator<void>>> buffer_interface.h  116 0x7ffff79673f6  
4   perception::SpinLoader::loadSpin    spin_loader.cpp 201 0x7ffff7965c40  
5   main    offline_perception.cpp  132 0x42d62c

Note that in frame 4 I'm calling

tf2_ros::Buffer::transform(const geometry_msgs::PointStamped &, geometry_msgs::PointStamped &, const std::string &)

which does not have a timeout. But it calls tf2_ros::BufferInterface::transform with a timeout (of zero), which leads to my error... Even worst, canTransform in frame 1 returns false and it's ignored by lookupTransform in frame 2.

Is this a design bug in tf2? Maybe BufferInterface should have functions with no timeout as well.

regardless, what should I do? i.e. how to work with tf2 offline?