Set TF_CACHE_TIME with rospy

edit

Hello!

I'm using a robotic (and ROSified!) wheelchair. One of the tasks I have to do is to transform a point from /base_link to /odom. Unsurprisingly, I use TF :)

However, when running the code below in Python:

tfListener.canTransform("/odom", base_link_point, rospy.Time(0) )

the function returns False quite often. I also transform from /base_link to /map (a longer chain) in another node and that works reliably.

I think the issue might be that tfListener doesn't have a big enough TF_CACHE_TIME, so I'd like to try and increase it. However the TF python documentation doesn't indicate how to do this.

I've also checked the source code and there's a call to override the argument in Transformer_init() but it's not clear to me how to do so or what are the other arguments for.

Any ideas?