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Fix TF when global plan is not updated #44

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Jul 6, 2023
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Fix TF when global plan is not updated #44

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5 changes: 2 additions & 3 deletions teb_local_planner/src/teb_local_planner_ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -721,9 +721,8 @@ bool TebLocalPlannerROS::transformGlobalPlan(const std::vector<geometry_msgs::ms

// get plan_to_global_transform from plan frame to global_frame
geometry_msgs::msg::TransformStamped plan_to_global_transform = tf_->lookupTransform(
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));
Comment on lines -724 to -726
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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.

global_frame, plan_pose.header.frame_id,
tf2::timeFromSec(0), tf2::durationFromSec(0.5));

// tf_->waitForTransform(global_frame, ros::Time::now(),
// plan_pose.header.frame_id, plan_pose.header.stamp,
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