Slow control loop with dwa_local_planner (fix for #679)

[pavloblindnology]

Fix for #679

[mikeferguson]

CI didn't trigger initially -- now running

[mikeferguson]

I wonder if would be desirable to keep this as ros::Time() which will get the latest available transform (rather than a possibly outdated one). Although, it might also be that having all transforms done at the same time is better for consistency.

[pavloblindnology]

We cannot just replace ros::Time::now() with ros::Time() in line

navigation/base_local_planner/src/goal_functions.cpp

Line 106 in 43e9297

tf.waitForTransform(global_frame, ros::Time::now(),

as transform in line

navigation/base_local_planner/src/goal_functions.cpp

Line 115 in 43e9297

tf.transformPose(plan_pose.header.frame_id, global_pose, robot_pose);

will use possibly later timestamp of current robot pose, issuing TF error 'extrapolation into the future', mentioned here #196

[mikeferguson]

why is this removed?

[pavloblindnology]

It's explained in line 157 of my dwa_planner_ros.cpp.
If we update robot pose after setting time in planner_util we can get a more recent time stamp of robot pose, which will cause TF 'extrapolation into the future` error in line

navigation/base_local_planner/src/goal_functions.cpp

Line 115 in 43e9297

tf.transformPose(plan_pose.header.frame_id, global_pose, robot_pose);

[pavloblindnology]

Any update on this?

[mikeferguson]

Targets a dead release (kinetic). If this is still of interest, please open a PR to noetic-devel branch