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fixed timestamps input&output not synchronized #377

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merged 6 commits into from
Apr 16, 2021
Merged

fixed timestamps input&output not synchronized #377

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d941f99
fixed timestamped ouput not match input
Apr 8, 2021
0458f6d
fixed timestamped ouput not match input
Apr 8, 2021
1fc3a9a
Merge branch 'ros2' of https://github.com/SteveMacenski/slam_toolbox …
Apr 12, 2021
199eef1
Return back to from_nanoseconds
Apr 14, 2021
8b704c9
No need for the comment, git history will have this.
Apr 14, 2021
b16275e
cleanup lint violations by ament_cpplint
Apr 16, 2021
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1 change: 1 addition & 0 deletions include/slam_toolbox/slam_toolbox_common.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -138,6 +138,7 @@ class SlamToolbox : public rclcpp::Node
// Storage for ROS parameters
std::string odom_frame_, map_frame_, base_frame_, map_name_, scan_topic_;
rclcpp::Duration transform_timeout_, minimum_time_interval_;
rclcpp::Time scan_timestamped;
int throttle_scans_;

double resolution_;
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2 changes: 2 additions & 0 deletions src/experimental/slam_toolbox_lifelong.cpp
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Expand Up @@ -83,6 +83,8 @@ void LifelongSlamToolbox::laserCallback(
sensor_msgs::msg::LaserScan::ConstSharedPtr scan)
/*****************************************************************************/
{
// store scan timestamped
scan_timestamped = scan->header.stamp;
// no odom info
Pose2 pose;
if (!pose_helper_->getOdomPose(pose, scan->header.stamp)) {
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2 changes: 2 additions & 0 deletions src/slam_toolbox_async.cpp
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Expand Up @@ -35,6 +35,8 @@ void AsynchronousSlamToolbox::laserCallback(
sensor_msgs::msg::LaserScan::ConstSharedPtr scan)
/*****************************************************************************/
{
// store scan timestamped
scan_timestamped = scan->header.stamp;
// no odom info
Pose2 pose;
if (!pose_helper_->getOdomPose(pose, scan->header.stamp)) {
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10 changes: 5 additions & 5 deletions src/slam_toolbox_common.cpp
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Expand Up @@ -40,7 +40,7 @@ SlamToolbox::SlamToolbox(rclcpp::NodeOptions options)
processor_type_(PROCESS),
first_measurement_(true),
process_near_pose_(nullptr),
transform_timeout_(rclcpp::Duration::from_nanoseconds(0.5 * 1000000000)),
transform_timeout_(rclcpp::Duration::from_seconds(0.5)),
minimum_time_interval_(std::chrono::nanoseconds(0))
/*****************************************************************************/
{
Expand Down Expand Up @@ -151,9 +151,9 @@ void SlamToolbox::setParams()

double tmp_val = 0.5;
tmp_val = this->declare_parameter("transform_timeout", tmp_val);
transform_timeout_ = rclcpp::Duration::from_nanoseconds(tmp_val * 1000000000);
transform_timeout_ = rclcpp::Duration::from_seconds(tmp_val);
tmp_val = this->declare_parameter("minimum_time_interval", tmp_val);
minimum_time_interval_ = rclcpp::Duration::from_nanoseconds(tmp_val * 1000000000);
minimum_time_interval_ = rclcpp::Duration::from_seconds(tmp_val);

bool debug = false;
debug = this->declare_parameter("debug_logging", debug);
Expand Down Expand Up @@ -231,7 +231,7 @@ void SlamToolbox::publishTransformLoop(
msg.transform = tf2::toMsg(map_to_odom_);
msg.child_frame_id = odom_frame_;
msg.header.frame_id = map_frame_;
msg.header.stamp = this->now() + transform_timeout_;
msg.header.stamp = scan_timestamped + transform_timeout_;
tfB_->sendTransform(msg);
}
r.sleep();
Expand Down Expand Up @@ -372,7 +372,7 @@ bool SlamToolbox::updateMap()
vis_utils::toNavMap(occ_grid, map_.map);

// publish map as current
map_.map.header.stamp = this->now();
map_.map.header.stamp = scan_timestamped;
sst_->publish(
std::move(std::make_unique<nav_msgs::msg::OccupancyGrid>(map_.map)));
sstm_->publish(
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2 changes: 2 additions & 0 deletions src/slam_toolbox_localization.cpp
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Expand Up @@ -118,6 +118,8 @@ void LocalizationSlamToolbox::laserCallback(
sensor_msgs::msg::LaserScan::ConstSharedPtr scan)
/*****************************************************************************/
{
// store scan timestamped
scan_timestamped = scan->header.stamp;
// no odom info
Pose2 pose;
if (!pose_helper_->getOdomPose(pose, scan->header.stamp)) {
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2 changes: 2 additions & 0 deletions src/slam_toolbox_sync.cpp
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Expand Up @@ -65,6 +65,8 @@ void SynchronousSlamToolbox::laserCallback(
sensor_msgs::msg::LaserScan::ConstSharedPtr scan)
/*****************************************************************************/
{
// store scan timestamped
scan_timestamped = scan->header.stamp;
// no odom info
Pose2 pose;
if (!pose_helper_->getOdomPose(pose, scan->header.stamp)) {
Expand Down