Merge pull request #3 from iirob/local_changes

Initalise TF2 before using it. Otherwise runtime error in current kin…
iirob · Mar 27, 2019 · 6cb957c · 6cb957c
2 parents 3b3db3f + e84269c
commit 6cb957c
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/cob_scan_unifier/src/scan_unifier_node.cpp b/cob_scan_unifier/src/scan_unifier_node.cpp
@@ -26,6 +26,10 @@ ScanUnifierNode::ScanUnifierNode()
   nh_ = ros::NodeHandle();
   pnh_ = ros::NodeHandle("~");
 
+  // Init TF-Buffer
+  p_tfBuffer = new tf2_ros::Buffer();
+  p_tfListener = new tf2_ros::TransformListener(*p_tfBuffer, true);
+
   // Publisher
   topicPub_LaserUnified_ = nh_.advertise<sensor_msgs::LaserScan>("scan_unified", 1);