Merge pull request RoboSense-LiDAR#48 from DUT-Racing/fix/fake_perc-map

fix(fake_perception): check for existence of map frame

src/simulation/fake_perception/src/fake_perception.cpp

@@ -200,6 +200,14 @@ uint8_t Perception::get_noisy_type(uint8_t type, const ConfusionMatrix matrix) {
 }
 
 void Perception::generate_lidar_cone_data() {
+    // At the beginning, the right transforms will not have been published yet.
+    const auto tf_frames = buffer.getAllFrameNames();
+    bool map_frame_exists = std::any_of(tf_frames.begin(), tf_frames.end(), [](const std::string &frame_name) { return frame_name == "map"; });
+    if (!map_frame_exists) {
+        RCLCPP_INFO(get_logger(), "Transform from 'map' to '%s' not yet received", lidar_frame.c_str());
+        return;
+    }
+
     const auto map_to_lidar_transform = buffer.lookupTransform(lidar_frame, "map", rclcpp::Time(0), 1ns);
 
     // Start time of cone detection