Function waitTransform

clover/src/simple_offboard.cpp:196–208

wait for transform without interrupting publishing setpoints

// wait for transform without interrupting publishing setpoints
inline bool waitTransform(const string& target, const string& source,
                          const ros::Time& stamp, const ros::Duration& timeout) // editorconfig-checker-disable-line
{
	ros::Rate r(100);
	auto start = ros::Time::now();
	while (ros::ok()) {
		if (ros::Time::now() - start > timeout) return false;
		if (tf_buffer.canTransform(target, source, stamp)) return true;
		ros::spinOnce();
		r.sleep();
	}
	return false;
}

void publishTerrain(const double distance, const ros::Time& stamp)
{