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throttle TF_REPEATED_DATA to 10 seconds #516

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throttle TF_REPEATED_DATA to 10 seconds #516

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2 changes: 1 addition & 1 deletion tf2/include/tf2/time_cache.h
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@ class TimeCache : public TimeCacheInterface
L_TransformStorage storage_;

ros::Duration max_storage_time_;

ros::Time last_repeated_warn_time_;
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This most probably wouldn't make it into Noetic. It changes the ABI of existing code, which would require a total rebuild of the whole Noetic buildfarm.

I suggest moving this completely to the .cpp . You can make this a static variable in the .cpp file, which would preserve ABI. It could also simplify the implementation.

If you no longer feel the urge to get this fix merged, ping @klaxalk , he told he could find some time to dedicate to this fix ;)


/// A helper function for getData
//Assumes storage is already locked for it
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5 changes: 4 additions & 1 deletion tf2/src/buffer_core.cpp
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Expand Up @@ -275,7 +275,10 @@ bool BufferCore::setTransform(const geometry_msgs::TransformStamped& transform_i
}
else
{
CONSOLE_BRIDGE_logWarn((error_string+" for frame %s at time %lf according to authority %s").c_str(), stripped.child_frame_id.c_str(), stripped.header.stamp.toSec(), authority.c_str());
if (error_string.size())
{
CONSOLE_BRIDGE_logWarn((error_string+" for frame %s at time %lf according to authority %s").c_str(), stripped.child_frame_id.c_str(), stripped.header.stamp.toSec(), authority.c_str());
}
return false;
}
}
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9 changes: 8 additions & 1 deletion tf2/src/cache.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -275,8 +275,13 @@ bool TimeCache::insertData(const TransformStorage& new_data, std::string* error_
}
if (storage_it != storage_.end() && storage_it->stamp_ == new_data.stamp_)
{
if (error_str)
// Throttle TF_REPEATED_DATA error message to 10 seconds.
// Console bridge does not have throttling, so implement throttling here.
// Because insertData may be called prior to ros::Time being initialized,
// use the stamp from the message as "now".
if (error_str && new_data.stamp_ > last_repeated_warn_time_ + ros::Duration(10.0))
{
last_repeated_warn_time_ = new_data.stamp_;
*error_str = "TF_REPEATED_DATA ignoring data with redundant timestamp";
}
return false;
Expand All @@ -292,6 +297,8 @@ bool TimeCache::insertData(const TransformStorage& new_data, std::string* error_

void TimeCache::clearList()
{
// Reset the TF_REPEATED_DATA error message throttle.
last_repeated_warn_time_ = ros::Time(0.0);
storage_.clear();
}

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