Fix TF when global plan is not updated #44
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jplapp
approved these changes
Jul 4, 2023
tonynajjar
commented
Jul 4, 2023
Comment on lines
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| global_frame, tf2_ros::fromMsg(plan_pose.header.stamp), | ||
| plan_pose.header.frame_id, tf2::timeFromSec(0), | ||
| plan_pose.header.frame_id, tf2::durationFromSec(0.5)); |
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If the global_plan is not updated then plan_pose.header.stamp is not updated, and since the TF buffer has a fixed cache time (5-10s), then this throws an Extrapolation error in the past.
The current approach gets the global_frame, which is odom, at the timestamp of the plan creation, however if the AMR is relocalized and odom changes, I think that this new odom should be used.
The fix is to simply get the latest odom->map (global_frame->plan_pose.header.frame_id) TF.
HovorunB
approved these changes
Jul 4, 2023
|
No need to backport as this isn't an issue seen in release, just a preventive fix |
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Inspired from rst-tu-dortmund#408