From 9f5d96867e9c7390d756dbbcb24abe1b549879bd Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Sat, 13 Jun 2020 21:31:03 +0200
Subject: [PATCH] adapted to ts.ok()
---
src/node.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/node.cpp b/src/node.cpp
index 63a4835..e7670be 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -117,13 +117,12 @@ bool WolfRosNode::updateTf()
VectorComposite current_state = problem_ptr_->getState("PO");
TimeStamp loc_ts = problem_ptr_->getTimeStamp();
- ros::Time loc_stamp(loc_ts.getSeconds(), loc_ts.getNanoSeconds());
//Get map2base from Wolf result, and builds base2map pose
tf::Transform T_map2base;
if (current_state.count("P") == 0 or
current_state.count("O") == 0 or
- loc_ts == TimeStamp(0))
+ loc_ts.ok())
{
if (state_available_)
{
@@ -155,6 +154,7 @@ bool WolfRosNode::updateTf()
//gets T_map2odom_ (odom wrt map), by using tf listener, and assuming an odometry node is broadcasting odom2base
tf::StampedTransform T_base2odom;
+ ros::Time loc_stamp(loc_ts.getSeconds(), loc_ts.getNanoSeconds());
if ( tfl_.waitForTransform(base_frame_id_, odom_frame_id_, ros::Time(0), ros::Duration(0.2)) )
{
// tfl_.lookupTransform(base_frame_id_, odom_frame_id_, loc_stamp, T_base2odom);
--
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