message: imu_to_tf: added wait_for_transform_duration parameter
diff: @@ -40,7 +40,8 @@ class ImuToTF : public nodelet::Nodelet
  {
  public:
  ImuToTF() :
  - fixedFrameId_("odom")
  + fixedFrameId_("odom"),
  + waitForTransformDuration_(0.1)
  {}
  virtual ~ImuToTF()
  @@ -55,6 +56,7 @@ private:
  pnh.param("fixed_frame_id", fixedFrameId_, fixedFrameId_);
  pnh.param("base_frame_id", baseFrameId_, baseFrameId_);
  + pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
  NODELET_INFO("fixed_frame_id: %s", fixedFrameId_.c_str());
  NODELET_INFO("base_frame_id: %s", baseFrameId_.c_str());
  @@ -77,7 +79,7 @@ private:
  try
  {
  std::string errorMsg;
  - if(!tfListener_.waitForTransform(baseFrameId_, msg->header.frame_id, msg->header.stamp, ros::Duration(0.1), ros::Duration(0.01), &errorMsg))
  + if(!tfListener_.waitForTransform(baseFrameId_, msg->header.frame_id, msg->header.stamp, ros::Duration(waitForTransformDuration_), ros::Duration(0.01), &errorMsg))
  {
  NODELET_ERROR("Could not get transform from %s to %s after %f seconds (for stamp=%f)! Error=\"%s\".",
  baseFrameId_.c_str(), msg->header.frame_id.c_str(), 0.1, msg->header.stamp.toSec(), errorMsg.c_str());
  @@ -110,6 +112,7 @@ private:
  std::string fixedFrameId_;
  std::string baseFrameId_;
  tf::TransformListener tfListener_;
  + double waitForTransformDuration_;
  };
  