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cherry pick (#377) (#479) #1

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merged 1 commit into from
Nov 8, 2023
Merged

cherry pick (#377) (#479) #1

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1 change: 1 addition & 0 deletions slam_toolbox/include/slam_toolbox/slam_toolbox_common.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,6 +113,7 @@ class SlamToolbox
std::string odom_frame_, map_frame_, base_frame_, map_name_, scan_topic_;
ros::Duration transform_timeout_, tf_buffer_dur_, minimum_time_interval_;
int throttle_scans_;
std_msgs::Header scan_header_;

double resolution_;
double position_covariance_scale_;
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1 change: 1 addition & 0 deletions slam_toolbox/src/experimental/slam_toolbox_lifelong.cpp
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Expand Up @@ -69,6 +69,7 @@ void LifelongSlamToolbox::laserCallback(
const sensor_msgs::LaserScan::ConstPtr& scan)
/*****************************************************************************/
{
scan_header_ = scan->header;
// no odom info
Pose2 pose;
if(!pose_helper_->getOdomPose(pose, scan->header.stamp))
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1 change: 1 addition & 0 deletions slam_toolbox/src/slam_toolbox_async.cpp
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Expand Up @@ -35,6 +35,7 @@ void AsynchronousSlamToolbox::laserCallback(
const sensor_msgs::LaserScan::ConstPtr& scan)
/*****************************************************************************/
{
scan_header_ = scan->header;
// no odom info
karto::Pose2 pose;
if(!pose_helper_->getOdomPose(pose, scan->header.stamp))
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17 changes: 10 additions & 7 deletions slam_toolbox/src/slam_toolbox_common.cpp
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Expand Up @@ -176,12 +176,15 @@ void SlamToolbox::publishTransformLoop(const double& transform_publish_period)
{
{
boost::mutex::scoped_lock lock(map_to_odom_mutex_);
geometry_msgs::TransformStamped msg;
tf2::convert(map_to_odom_, msg.transform);
msg.child_frame_id = odom_frame_;
msg.header.frame_id = map_frame_;
msg.header.stamp = ros::Time::now() + transform_timeout_;
tfB_->sendTransform(msg);
if(scan_header_.stamp.toSec() > 0.0 && !scan_header_.frame_id.empty()) {
geometry_msgs::TransformStamped msg;
tf2::convert(map_to_odom_, msg.transform);
msg.child_frame_id = odom_frame_;
msg.header.frame_id = map_frame_;
//TODO: why transform_timeout_ is here?
msg.header.stamp = scan_header_.stamp + transform_timeout_;
tfB_->sendTransform(msg);
}
}
r.sleep();
}
Expand Down Expand Up @@ -327,7 +330,7 @@ bool SlamToolbox::updateMap()
vis_utils::toNavMap(occ_grid, map_.map);

// publish map as current
map_.map.header.stamp = ros::Time::now();
map_.map.header.stamp = scan_header_.stamp;
sst_.publish(map_.map);
sstm_.publish(map_.map.info);

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1 change: 1 addition & 0 deletions slam_toolbox/src/slam_toolbox_localization.cpp
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Expand Up @@ -104,6 +104,7 @@ void LocalizationSlamToolbox::laserCallback(
const sensor_msgs::LaserScan::ConstPtr& scan)
/*****************************************************************************/
{
scan_header_ = scan->header;
// no odom info
Pose2 pose;
if(!pose_helper_->getOdomPose(pose, scan->header.stamp))
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1 change: 1 addition & 0 deletions slam_toolbox/src/slam_toolbox_sync.cpp
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Expand Up @@ -78,6 +78,7 @@ void SynchronousSlamToolbox::laserCallback(
const sensor_msgs::LaserScan::ConstPtr& scan)
/*****************************************************************************/
{
scan_header_ = scan->header;
// no odom info
karto::Pose2 pose;
if(!pose_helper_->getOdomPose(pose, scan->header.stamp))
Expand Down