fix deprecated rclcpp:::Duration warning

microsoft · May 19, 2022 · c8241d1 · c8241d1
1 parent 94c6aa1
commit c8241d1
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp b/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
@@ -682,7 +682,7 @@ sensor_msgs::msg::PointCloud2 AirsimROSWrapper::get_lidar_msg_from_airsim(const
         if (isENU_) {
             try {
                 sensor_msgs::msg::PointCloud2 lidar_msg_enu;
-                auto transformStampedENU = tf_buffer_->lookupTransform(AIRSIM_FRAME_ID, vehicle_name, rclcpp::Time(0), rclcpp::Duration(1));
+                auto transformStampedENU = tf_buffer_->lookupTransform(AIRSIM_FRAME_ID, vehicle_name, rclcpp::Time(0), rclcpp::Duration::from_nanoseconds(1));
                 tf2::doTransform(lidar_msg, lidar_msg_enu, transformStampedENU);
 
                 lidar_msg_enu.header.stamp = lidar_msg.header.stamp;