Fix ground truth bug + limit probability of tf warning while maintain…

[marinagmoreira]

…ing publishing rate

[bcoltin]

I am probably missing something, but is the only difference in gazebo versions here that GetWorldPose became WorldPose? If so, why don't we assign the world pose to a temporary object and just put the # ifs only around that so we can make these kinds of mistakes less likely in the future?

[marinagmoreira]

I am probably missing something, but is the only difference in gazebo versions here that GetWorldPose became WorldPose? If so, why don't we assign the world pose to a temporary object and just put the # ifs only around that so we can make these kinds of mistakes less likely in the future?

sounds good, we could add it to astrobee_gazebo.cc, do you want to do it on this PR or open a separate issue?

[bcoltin]

Whatever you think is best! If you want to do a separate issue then feel free to go ahead and merge this one.