outlet/plug detection tries to do tf transformpose with old stamp (ros ticket #3921)

[ahendrix]

When the outlet or plug detector receives a prior, it attempts to transform this prior into the camera frame every time an image comes in. The first 10 seconds this works, but after that the tb buffer is too old. For now I increased the size of the tf buffer, but the right approach is to transform the prior once in the goalcb, and then never have to do this again.

The same counts for the wall normal that is provided to the outlet detector.

trac data:

• Owner: mihelich
• Reporter: wim
• Reported at: Fri Feb 26 12:56:06 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3921