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fixing tf warnign for ground truth mode #454

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merged 2 commits into from
Mar 16, 2022
Merged

fixing tf warnign for ground truth mode #454

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27330d9
fixing tf warnign for ground truth mode
marinagmoreira Mar 16, 2022
0bf2f95
adding header
marinagmoreira Mar 16, 2022
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1 change: 1 addition & 0 deletions ...on/ground_truth_localizer/include/ground_truth_localizer/ground_truth_localizer_nodelet.h
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Expand Up @@ -60,6 +60,7 @@ class GroundTruthLocalizerNodelet : public ff_util::FreeFlyerNodelet {
void PublishLocState(const localization_common::Time& timestamp);

std::string platform_name_;
ros::Time last_time_;
boost::optional<Eigen::Isometry3d> pose_;
boost::optional<Twist> twist_;
int input_mode_ = ff_msgs::SetEkfInputRequest::MODE_TRUTH;
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5 changes: 5 additions & 0 deletions localization/ground_truth_localizer/src/ground_truth_localizer_nodelet.cc
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Expand Up @@ -97,6 +97,11 @@ void GroundTruthLocalizerNodelet::PublishLocState(const lc::Time& timestamp) {

// Also publish world_T_body TF
const auto world_T_body_tf = lc::PoseToTF(*pose_, "world", "body", timestamp, platform_name_);

// If the rate is higher than the sim time, prevent repeated timestamps
if (world_T_body_tf.header.stamp == last_time_) return;
last_time_ = world_T_body_tf.header.stamp;

transform_pub_.sendTransform(world_T_body_tf);
}
} // namespace ground_truth_localizer
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