Fixed crash due to uninited tf broadcaster

avidbots · Nov 18, 2024 · 5d93c01 · 5d93c01
1 parent a687c8c
commit 5d93c01
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/flatland_plugins/src/imu.cpp b/flatland_plugins/src/imu.cpp
@@ -78,6 +78,8 @@ void Imu::OnInitialize(const YAML::Node& config) {
   update_timer_.SetRate(pub_rate_);
 
   broadcast_tf_ = reader.Get<bool>("broadcast_tf", true);
+  tf_broadcaster_ =
+      std::make_shared<tf2_ros::TransformBroadcaster>(node_);
 
   // by default the covariance diagonal is the variance of actual noise
   // generated, non-diagonal elements are zero assuming the noises are