TF buffer not filled by a tf_listerner in MPC
Description
Controller TF buffer is not setup with a tf_listener, so it was blank and only worked when no transform was done and fails if there is an actual need to transform trajectory from a different frame.
How to Reproduce
No simulator needed, goto test code branch 453-controller-tf-test-code and run the following
ros2 launch test_trajectory_following simple_trajectory_following.launch.py
Current Behavior
If the frame of trajectory is different from vehicle sate and needs to be transformed, it cannot.
Expected behavior
Trajectory coming with any frame should be possible transformed successfully if transformation is possible, based on tf tree and time.
Attached patch of code used to test, resolution mpc_tf.patch
Edited by Jit Ray Chowdhury