goal_functions: Replace redundant advanced TF transforms' calls.

ros-planning · May 25, 2020 · 6ad9169 · 6ad9169
1 parent d407890
commit 6ad9169
Showing 1 changed file with 2 additions and 5 deletions.
diff --git a/base_local_planner/src/goal_functions.cpp b/base_local_planner/src/goal_functions.cpp
@@ -111,8 +111,7 @@ namespace base_local_planner {
     const geometry_msgs::PoseStamped& plan_pose = global_plan[0];
     try {
       // get plan_to_global_transform from plan frame to global_frame
-      geometry_msgs::TransformStamped plan_to_global_transform = tf.lookupTransform(global_frame, time,
-          plan_pose.header.frame_id, plan_pose.header.stamp, plan_pose.header.frame_id, ros::Duration(0.5));
+      geometry_msgs::TransformStamped plan_to_global_transform = tf.lookupTransform(global_frame, plan_pose.header.frame_id, time, ros::Duration(0.5));
 
       //let's get the pose of the robot in the frame of the plan
       geometry_msgs::PoseStamped robot_pose;
@@ -183,9 +182,7 @@ namespace base_local_planner {
 
     const geometry_msgs::PoseStamped& plan_goal_pose = global_plan.back();
     try{
-      geometry_msgs::TransformStamped transform = tf.lookupTransform(global_frame, time,
-                         plan_goal_pose.header.frame_id, plan_goal_pose.header.stamp,
-                         plan_goal_pose.header.frame_id, ros::Duration(0.5));
+      geometry_msgs::TransformStamped transform = tf.lookupTransform(global_frame, plan_goal_pose.header.frame_id, time, ros::Duration(0.5));
 
       tf2::doTransform(plan_goal_pose, goal_pose, transform);
     }