From b84c524bfb51bb0bad2bb1f5f1f534842278adcd Mon Sep 17 00:00:00 2001
From: cameron brown <52760912+cbrxyz@users.noreply.github.com>
Date: Thu, 22 Feb 2024 17:46:04 -0500
Subject: [PATCH] Fix odom messages being converted to tf (#1137)

---
 mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp b/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp
index 953f0fcbd..6c2794453 100644
--- a/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp
+++ b/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp
@@ -21,7 +21,7 @@ class odometry_to_tf : public nodelet::Nodelet
   {
     tf::Transform transform;
     poseMsgToTF(msg->pose.pose, transform);
-    if (_last_tf_stamps.count(msg->header.frame_id) && _last_tf_stamps[msg->header.frame_id] <= msg->header.stamp)
+    if (_last_tf_stamps.count(msg->header.frame_id) && _last_tf_stamps[msg->header.frame_id] == msg->header.stamp)
     {
       return;
     }