feat(autonomous_emergency_braking): increase aeb speed by getting las…

…t transform (autowarefoundation#8734) set stamp to 0 to get the latest stamp instead of waiting for the stamp Signed-off-by: Daniel Sanchez <[email protected]>
arayabrain · Sep 3, 2024 · c0fa137 · c0fa137
1 parent 9aed218
commit c0fa137
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp
@@ -250,7 +250,7 @@ void AEB::onImu(const Imu::ConstSharedPtr input_msg)
   geometry_msgs::msg::TransformStamped transform_stamped{};
   try {
     transform_stamped = tf_buffer_.lookupTransform(
-      "base_link", input_msg->header.frame_id, input_msg->header.stamp,
+      "base_link", input_msg->header.frame_id, rclcpp::Time(0),
       rclcpp::Duration::from_seconds(0.5));
   } catch (tf2::TransformException & ex) {
     RCLCPP_ERROR_STREAM(
@@ -631,7 +631,7 @@ std::optional<Path> AEB::generateEgoPath(const Trajectory & predicted_traj)
   geometry_msgs::msg::TransformStamped transform_stamped{};
   try {
     transform_stamped = tf_buffer_.lookupTransform(
-      "base_link", predicted_traj.header.frame_id, predicted_traj.header.stamp,
+      "base_link", predicted_traj.header.frame_id, rclcpp::Time(0),
       rclcpp::Duration::from_seconds(0.5));
   } catch (tf2::TransformException & ex) {
     RCLCPP_ERROR_STREAM(
@@ -705,7 +705,7 @@ void AEB::createObjectDataUsingPredictedObjects(
   geometry_msgs::msg::TransformStamped transform_stamped{};
   try {
     transform_stamped = tf_buffer_.lookupTransform(
-      "base_link", predicted_objects_ptr_->header.frame_id, stamp,
+      "base_link", predicted_objects_ptr_->header.frame_id, rclcpp::Time(0),
       rclcpp::Duration::from_seconds(0.5));
   } catch (tf2::TransformException & ex) {
     RCLCPP_ERROR_STREAM(get_logger(), "[AEB] Failed to look up transform from base_link to map");