Hi, I have written a python script which takes two tf frames and writes the transform between them to a file. The abbreviated code of the script looks like this:
listener = tf.TransformListener()
# waiting for first transform between origin and pose
listener.waitForTransform(origin, pose, rospy.Time(), rospy.Duration(5.0))
rate = rospy.Rate(10)
while not rospy.is_shutdown():
try:
now = rospy.Time.now()
listener.waitForTransform(origin, pose, now, rospy.Duration(1.0))
(trans, rot) = listener.lookupTransform(origin, pose, now)
... write trans and rot to the file ...
# this exception is usually thrown when waitForTransform timed out
except tf.Exception as e:
break # get out of the loop
rate.sleep()
... some last commands before the script terminates ...
Usually this script should terminate when no more tf frames are published because I leave the loop when `waitForTransform(...)` throws an exception.
When I run this code and start playing a bagfile (`use_sim_time true` and `--clock`) the script does not terminate because it gets stuck at `rate.sleep()` when `rosbag play` is finished. Any ideas why it behaves this way?
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