From 46133dd04cbd22baf47424787de6a1b00246f55a Mon Sep 17 00:00:00 2001 From: admercs Date: Mon, 11 Mar 2024 08:20:28 -0700 Subject: [PATCH] update ros2 wrapper --- ros2/src/autonomysim_ros_pkgs/src/autonomysim_ros_wrapper.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/ros2/src/autonomysim_ros_pkgs/src/autonomysim_ros_wrapper.cpp b/ros2/src/autonomysim_ros_pkgs/src/autonomysim_ros_wrapper.cpp index 3db0f0d0..168f1ab3 100644 --- a/ros2/src/autonomysim_ros_pkgs/src/autonomysim_ros_wrapper.cpp +++ b/ros2/src/autonomysim_ros_pkgs/src/autonomysim_ros_wrapper.cpp @@ -758,9 +758,8 @@ AutonomySimROSWrapper::get_lidar_msg_from_autonomysim(const nervosys::autonomyli if (isENU_) { try { sensor_msgs::msg::PointCloud2 lidar_msg_enu; - std::chrono::nanoseconds step = 1; auto transformStampedENU = tf_buffer_->lookupTransform(AUTONOMYSIM_FRAME_ID, vehicle_name, - rclcpp::Time(0), rclcpp::Duration(step)); + rclcpp::Time(0), rclcpp::Duration(0, 1)); tf2::doTransform(lidar_msg, lidar_msg_enu, transformStampedENU); lidar_msg_enu.header.stamp = lidar_msg.header.stamp;