Fix transform_pose

Signed-off-by: methylDragon <methylDragon@gmail.com>
osrf · Aug 23, 2023 · b76f32b · b76f32b
1 parent 22e1985
commit b76f32b
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/nexus_workcell_orchestrator/src/transform_pose.cpp b/nexus_workcell_orchestrator/src/transform_pose.cpp
@@ -142,7 +142,7 @@ BT::NodeStatus GetPoseOffset::tick()
   }
   else
   {
-    lookup_time = this->_node.now();
+    lookup_time = rclcpp::Time(0);  // Get latest available transforms
   }
 
   const auto tf_msg = this->_tf2_buffer->lookupTransform(

diff --git a/nexus_workcell_orchestrator/src/transform_pose.hpp b/nexus_workcell_orchestrator/src/transform_pose.hpp
@@ -21,6 +21,7 @@
 #include <behaviortree_cpp_v3/action_node.h>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
+#include <nexus_capabilities/conversions/pose_stamped.hpp>
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
 #include <tf2_ros/buffer.h>