Warning Message Intervals for canTransform (#663)

Signed-off-by: CursedRock17 <[email protected]>
ros2 · Apr 4, 2024 · f63c7ae · f63c7ae
1 parent 0ea2ad3
commit f63c7ae
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/tf2/include/tf2/buffer_core.h b/tf2/include/tf2/buffer_core.h
@@ -46,11 +46,11 @@
 
 #include "LinearMath/Transform.h"
 #include "geometry_msgs/msg/transform_stamped.hpp"
+#include "rcutils/logging_macros.h"
 #include "tf2/buffer_core_interface.h"
 #include "tf2/exceptions.h"
 #include "tf2/transform_storage.h"
 #include "tf2/visibility_control.h"
-#include "rcutils/logging_macros.h"
 
 namespace tf2
 {

diff --git a/tf2/src/buffer_core.cpp b/tf2/src/buffer_core.cpp
@@ -89,7 +89,10 @@ void fillOrWarnMessageForInvalidFrame(
   if (error_msg != nullptr) {
     *error_msg = s;
   } else {
-    RCUTILS_LOG_WARN("%s", s.c_str());
+    static constexpr std::chrono::milliseconds warning_interval =
+      std::chrono::milliseconds(2500);
+
+    RCUTILS_LOG_WARN_THROTTLE(RCUTILS_STEADY_TIME, warning_interval.count(), "%s", s.c_str());
   }
 }