The issue is that TF output is streamed to each node, and is buffered in the
listener -- if you create the listener inside the callback, you have no
history of tf data before creation -- which means you often can't find the
lookup you desire.

-Mike

On Tue, Apr 5, 2011 at 6:10 PM, Jack O'Quin <jack.oquin@gmail.com> wrote:

> On Tue, Apr 5, 2011 at 5:05 PM, Dejan Pangercic
> <dejan.pangercic@gmail.com> wrote:
> > Hi Sabrina,
> >
> >> you should instantiate the TransformListener outside the callback:
> >>
> >> tf::TransformListener *tf_listener;
> > this is very interesting. But do you know why would it be necessary to
> > have it outside the callback? Is there a documentation about this?
>
> I believe the destructor for the listener will shut down the connection.
>
> Many ROS interfaces use the RAII approach.
> --
>  joq
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