Missing tf2 include and tf2 exception type (#103)

* Add missing include tf2_ros/buffer.h * Catch tf2::TransformException
ros-naoqi · Feb 14, 2018 · a83ec33 · a83ec33
1 parent 9fe18ba
commit a83ec33
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diff --git a/src/converters/joint_state.hpp b/src/converters/joint_state.hpp
@@ -30,6 +30,7 @@
 */
 #include <urdf/model.h>
 #include <sensor_msgs/JointState.h>
+#include <tf2_ros/buffer.h>
 #include <robot_state_publisher/robot_state_publisher.h>
 
 namespace naoqi

diff --git a/src/converters/nao_footprint.hpp b/src/converters/nao_footprint.hpp
@@ -52,7 +52,7 @@ inline void addBaseFootprint( boost::shared_ptr<tf2_ros::Buffer> tf2_buffer, std
     tf_odom_to_left_foot  = tf2_buffer->lookupTransform("odom", "l_sole",    time );
     tf_odom_to_right_foot = tf2_buffer->lookupTransform("odom", "r_sole",    time );
     tf_odom_to_base       = tf2_buffer->lookupTransform("odom", "base_link", time );
-  } catch (const tf::TransformException& ex){
+  } catch (const tf2::TransformException& ex){
     ROS_ERROR("NAO Footprint error %s",ex.what());
     return ;
   }