refactor(ndt_scan_matcher): removed tf2_listener_module #6008
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Signed-off-by: Shintaro SAKODA <[email protected]>
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run:build-and-test-differential
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #6008 +/- ##
==========================================
+ Coverage 15.22% 15.30% +0.08%
==========================================
Files 1751 1751
Lines 120849 120203 -646
Branches 36721 36328 -393
==========================================
Hits 18398 18398
+ Misses 81810 81163 -647
- Partials 20641 20642 +1
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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May 26, 2024
…dation#6008) Removed tf2_listener_module Signed-off-by: Shintaro SAKODA <[email protected]>
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May 28, 2024
…dation#6008) Removed tf2_listener_module Signed-off-by: Shintaro SAKODA <[email protected]>
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May 28, 2024
…dation#6008) Removed tf2_listener_module Signed-off-by: Shintaro SAKODA <[email protected]>
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Jun 3, 2024
…dation#6008) Removed tf2_listener_module Signed-off-by: Shintaro SAKODA <[email protected]>
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Description
Removed
tf2_listener_moduleand perform error handling explicitlyContext
Currently, ndt_scan_matcher uses a helper class called tf2_listener_module for coordinate transformation using tf, but this class's functions do not have appropriate error handling.
It ignores the exception when the frame is not found in the tf link, and will continue to work even if this conversion fails.
It is also needed to decide how to handle errors.
Tests performed
It has been confirmed that the
logging_simulatorruns with the same accuracy as before on AWSIM data with GT.Before : 0.046 [m]
After : 0.048 [m]
Effects on system behavior
There are no effects on system behavior.
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