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Bonxai: right label in the TF warning, and throttled #110

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Merged
fmrico merged 1 commit into from
Oct 10, 2026
Merged

Bonxai: right label in the TF warning, and throttled #110

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5 changes: 4 additions & 1 deletion ...anagers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
}

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