feat(controllers): add TF listener and lookup TF helpers in BaseContr…

…ollerInterface (#169)
aica-technology · Dec 5, 2024 · 222cbc8 · 222cbc8
1 parent f8eed86
commit 222cbc8
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diff --git a/source/modulo_controllers/include/modulo_controllers/BaseControllerInterface.hpp b/source/modulo_controllers/include/modulo_controllers/BaseControllerInterface.hpp
@@ -534,6 +534,7 @@ class BaseControllerInterface : public controller_interface::ControllerInterface
    * if the lookupTransform call failed
    * @return If it exists, the requested transform
    */
+
   [[nodiscard]] geometry_msgs::msg::TransformStamped lookup_ros_transform(
       const std::string& frame, const std::string& reference_frame, const tf2::TimePoint& time_point,
       const tf2::Duration& duration);

diff --git a/source/modulo_controllers/src/BaseControllerInterface.cpp b/source/modulo_controllers/src/BaseControllerInterface.cpp
@@ -544,9 +544,16 @@ void BaseControllerInterface::add_service(
 }
 
 void BaseControllerInterface::add_tf_listener() {
+<<<<<<< HEAD
   if (!is_node_initialized()) {
     throw modulo_core::exceptions::CoreException("Failed to add TF buffer and listener: Node is not initialized yet.");
   }
+=======
+  if (this->get_node() == nullptr) {
+    throw modulo_core::exceptions::CoreException("Failed to add TF buffer and listener: Node is not initialized yet.");
+  }
+
+>>>>>>> ed20342 (feat(controllers): add TF listener and lookup TF helpers in BaseControllerInterface (#169))
   if (this->tf_buffer_ == nullptr || this->tf_listener_ == nullptr) {
     RCLCPP_DEBUG(this->get_node()->get_logger(), "Adding TF buffer and listener.");
     console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_NONE);