From 96433f07b3d1cc744fd5281dab9b11127fa0d892 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Sat, 10 Oct 2026 07:48:36 +0200 Subject: [PATCH] Bonxai: right label in the TF warning, and throttled MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Francisco Martín Rico --- .../src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp b/maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp index af6a1551..bf04abca 100644 --- a/maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp +++ b/maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp @@ -188,7 +188,10 @@ BonxaiMapsManager::update_from_pc2(const sensor_msgs::msg::PointCloud2 & pc2) tf_info.map_frame, pc2.header.frame_id, pc2.header.stamp, rclcpp::Duration::from_seconds(0.05)); } catch (const tf2::TransformException & ex) { - RCLCPP_WARN(get_node()->get_logger(), "OctomapMapsManager: TF failed: %s", ex.what()); + // Throttled: if TF is always late, every point cloud would warn + RCLCPP_WARN_THROTTLE( + get_node()->get_logger(), *get_node()->get_clock(), 1000, + "BonxaiMapsManager: TF failed, point cloud skipped: %s", ex.what()); return; }