From 5d93c01e0d552c11931ccb82ebf4ac3c7aace8da Mon Sep 17 00:00:00 2001
From: Joseph Duchesne <josephgeek@gmail.com>
Date: Mon, 18 Nov 2024 04:26:03 +0000
Subject: [PATCH] Fixed crash due to uninited tf broadcaster

---
 flatland_plugins/src/imu.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/flatland_plugins/src/imu.cpp b/flatland_plugins/src/imu.cpp
index 35fb7f84..62e4a071 100644
--- a/flatland_plugins/src/imu.cpp
+++ b/flatland_plugins/src/imu.cpp
@@ -78,6 +78,8 @@ void Imu::OnInitialize(const YAML::Node& config) {
   update_timer_.SetRate(pub_rate_);
 
   broadcast_tf_ = reader.Get<bool>("broadcast_tf", true);
+  tf_broadcaster_ =
+      std::make_shared<tf2_ros::TransformBroadcaster>(node_);
 
   // by default the covariance diagonal is the variance of actual noise
   // generated, non-diagonal elements are zero assuming the noises are