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Merged
SteveMacenski merged 2 commits into from
Mar 25, 2022
Merged

Backport 479 galactic #487

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f7bfe95
fix zero-stamped tf issue on node launch
Jannkar Feb 23, 2022
313433f
Fix zero-stamped tf issue on node launch (#479)
Jannkar Feb 25, 2022
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2 changes: 1 addition & 1 deletion include/slam_toolbox/slam_toolbox_common.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -138,7 +138,7 @@ class SlamToolbox : public rclcpp::Node
// Storage for ROS parameters
std::string odom_frame_, map_frame_, base_frame_, map_name_, scan_topic_;
rclcpp::Duration transform_timeout_, minimum_time_interval_;
rclcpp::Time scan_timestamped;
std_msgs::msg::Header scan_header;
int throttle_scans_;

double resolution_;
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4 changes: 2 additions & 2 deletions src/experimental/slam_toolbox_lifelong.cpp
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Expand Up @@ -83,8 +83,8 @@ void LifelongSlamToolbox::laserCallback(
sensor_msgs::msg::LaserScan::ConstSharedPtr scan)
/*****************************************************************************/
{
// store scan timestamped
scan_timestamped = scan->header.stamp;
// store scan header
scan_header = scan->header;
// no odom info
Pose2 pose;
if (!pose_helper_->getOdomPose(pose, scan->header.stamp)) {
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4 changes: 2 additions & 2 deletions src/slam_toolbox_async.cpp
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Expand Up @@ -35,8 +35,8 @@ void AsynchronousSlamToolbox::laserCallback(
sensor_msgs::msg::LaserScan::ConstSharedPtr scan)
/*****************************************************************************/
{
// store scan timestamped
scan_timestamped = scan->header.stamp;
// store scan header
scan_header = scan->header;
// no odom info
Pose2 pose;
if (!pose_helper_->getOdomPose(pose, scan->header.stamp)) {
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18 changes: 11 additions & 7 deletions src/slam_toolbox_common.cpp
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Expand Up @@ -227,12 +227,16 @@ void SlamToolbox::publishTransformLoop(
while (rclcpp::ok()) {
{
boost::mutex::scoped_lock lock(map_to_odom_mutex_);
geometry_msgs::msg::TransformStamped msg;
msg.transform = tf2::toMsg(map_to_odom_);
msg.child_frame_id = odom_frame_;
msg.header.frame_id = map_frame_;
msg.header.stamp = scan_timestamped + transform_timeout_;
tfB_->sendTransform(msg);
rclcpp::Time scan_timestamp = scan_header.stamp;
// Avoid publishing tf with initial 0.0 scan timestamp
if (scan_timestamp.seconds() > 0.0 && !scan_header.frame_id.empty()) {
geometry_msgs::msg::TransformStamped msg;
msg.transform = tf2::toMsg(map_to_odom_);
msg.child_frame_id = odom_frame_;
msg.header.frame_id = map_frame_;
msg.header.stamp = scan_timestamp + transform_timeout_;
tfB_->sendTransform(msg);
}
}
r.sleep();
}
Expand Down Expand Up @@ -372,7 +376,7 @@ bool SlamToolbox::updateMap()
vis_utils::toNavMap(occ_grid, map_.map);

// publish map as current
map_.map.header.stamp = scan_timestamped;
map_.map.header.stamp = scan_header.stamp;
sst_->publish(
std::move(std::make_unique<nav_msgs::msg::OccupancyGrid>(map_.map)));
sstm_->publish(
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4 changes: 2 additions & 2 deletions src/slam_toolbox_localization.cpp
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Expand Up @@ -118,8 +118,8 @@ void LocalizationSlamToolbox::laserCallback(
sensor_msgs::msg::LaserScan::ConstSharedPtr scan)
/*****************************************************************************/
{
// store scan timestamped
scan_timestamped = scan->header.stamp;
// store scan header
scan_header = scan->header;
// no odom info
Pose2 pose;
if (!pose_helper_->getOdomPose(pose, scan->header.stamp)) {
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4 changes: 2 additions & 2 deletions src/slam_toolbox_sync.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,8 +65,8 @@ void SynchronousSlamToolbox::laserCallback(
sensor_msgs::msg::LaserScan::ConstSharedPtr scan)
/*****************************************************************************/
{
// store scan timestamped
scan_timestamped = scan->header.stamp;
// store scan header
scan_header = scan->header;
// no odom info
Pose2 pose;
if (!pose_helper_->getOdomPose(pose, scan->header.stamp)) {
Expand Down