tf broadcasting and listening in the same node

edit

I am currently trying to make a perception part using tf.

My robot 's position is broadcasted to tf, and the robot tries to read obstacles using tf. I want to put this on the same node " " test1 "passed to lookupTransform argument target_frame does not exist. "Message is generated.

What happens when two nodes tf each succeed, and one node should not?

I think this problem is "time" and I have put in various times. ros :: Time (), ros :: Time (0). ros :: Time :: now (), ros :: Time :: now () - ros :: Duration (0.1) etc ..

But it was not all.

I tested with two threads on one node, which was a success. What is the problem?

#include "tf/transform_listener.h"
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char **argv) {
  ros::init(argc, argv, "tf_b");
  tf::TransformBroadcaster br;

  tf::Transform transform;
  tf::Quaternion q;
  ros::NodeHandle nh;

  transform.setOrigin(tf::Vector3(1.0, 1.0, 1.0));
  q.setRPY(0, 0, 0);

  ros::Rate loop_rate(10);
  while (ros::ok()) {

    ros::Time tGetTime = ros::Time::now();

    transform.setRotation(q);

    br.sendTransform(
        tf::StampedTransform(transform, tGetTime, "world", "test1"));

    tf::TransformListener listener;

    try {

      listener.waitForTransform("/test1", "/world", tGetTime,
                                ros::Duration(0.1));

      tf::StampedTransform transform;
      listener.lookupTransform("/test1", "/world", tGetTime, transform);

      ROS_INFO_STREAM(transform.getOrigin().getX());

    } catch (tf::TransformException &ex) {
      ROS_ERROR(ex.what());
    }

    ros::spinOnce();
    loop_rate.sleep();
  }
  return 0;
}

On top of that I've simplified the code to make it easier to understand.