Add error msgs for timeouts (#62)

tue-robotics · Apr 26, 2022 · f1f1ca8 · f1f1ca8
2 parents 196b713 + 0f9e8a4
commit f1f1ca8
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/ed_sensor_integration/src/kinect/image_buffer.cpp b/ed_sensor_integration/src/kinect/image_buffer.cpp
@@ -65,7 +65,10 @@ bool ImageBuffer::waitForRecentImage(rgbd::ImageConstPtr& image, geo::Pose3D& se
         if (rgbd_image)
             break;
         else if (ros::Time::now() > t_end)
+        {
+            ROS_ERROR_NAMED("image_buffer", "[IMAGE_BUFFER] timeout waiting for rgbd image");
             return false;
+        }
         else
             ros::Duration(0.1).sleep();
     }
@@ -76,7 +79,10 @@ bool ImageBuffer::waitForRecentImage(rgbd::ImageConstPtr& image, geo::Pose3D& se
     // Wait until we have a tf
     if (!tf_buffer_.canTransform(root_frame_, rgbd_image->getFrameId(), ros::Time(rgbd_image->getTimestamp()))) // Get the TF when it is available now
         if (!tf_buffer_.canTransform(root_frame_, rgbd_image->getFrameId(), ros::Time(rgbd_image->getTimestamp()), t_end - ros::Time::now()))
+        {
+            ROS_ERROR_NAMED("image_buffer", "[IMAGE_BUFFER] timeout waiting for tf");
             return false;
+        }
 
     // - - - - - - - - - - - - - - - - - -
     // Calculate tf