fix(accel_brake_map_calibrator): fix usage of transform listener (aut…

…owarefoundation#2682) * fix(accel_brake_map_calibrator): fix usage of transform listener Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * add maintainer Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
maxime-clem · Jan 30, 2023 · 8197d54 · 8197d54
1 parent 5b99d87
commit 8197d54
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diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml
@@ -5,6 +5,9 @@
   <version>0.1.0</version>
   <description>The accel_brake_map_calibrator</description>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
+  <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
+  <maintainer email="takeshi.miura@tier4.jp">Takeshi Miura</maintainer>
+
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

diff --git a/...l_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp b/...l_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp
@@ -232,15 +232,13 @@ bool AccelBrakeMapCalibrator::getCurrentPitchFromTF(double * pitch)
   }
 
   // get tf
-  geometry_msgs::msg::TransformStamped::ConstSharedPtr transform;
-  try {
-    transform = transform_listener_->getTransform(
-      "map", "base_link", rclcpp::Time(0), rclcpp::Duration::from_seconds(0.5));
-  } catch (tf2::TransformException & ex) {
+  const auto transform = transform_listener_->getTransform(
+    "map", "base_link", rclcpp::Time(0), rclcpp::Duration::from_seconds(0.5));
+  if (!transform) {
     auto & clk = *this->get_clock();
     RCLCPP_WARN_STREAM_THROTTLE(
       rclcpp::get_logger("accel_brake_map_calibrator"), clk, 5000,
-      "cannot get map to base_link transform. " << ex.what());
+      "cannot get map to base_link transform. ");
     return false;
   }
   double roll, raw_pitch, yaw;