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Follow googlecartographer/cartographer#616. (#569)

master
gaschler 2017-11-03 13:34:53 +01:00 committed by Wolfgang Hess
parent e2f018d311
commit b665fbd6d2
1 changed files with 2 additions and 2 deletions
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4
cartographer_ros/cartographer_ros/node.cc
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@ -194,8 +194,8 @@ void Node::PublishTrajectoryStates(const ::ros::WallTimerEvent& timer_event) {
// published poses to advance. If we already know a newer pose, we use its // published poses to advance. If we already know a newer pose, we use its
// time instead. Since tf knows how to interpolate, providing newer // time instead. Since tf knows how to interpolate, providing newer
// information is better. // information is better.
const ::cartographer::common::Time now = const ::cartographer::common::Time now = std::max(
std::max(FromRos(ros::Time::now()), extrapolator.GetLastPoseTime()); FromRos(ros::Time::now()), extrapolator.GetLastExtrapolatedTime());
stamped_transform.header.stamp = ToRos(now); stamped_transform.header.stamp = ToRos(now);
const Rigid3d tracking_to_local = extrapolator.ExtrapolatePose(now); const Rigid3d tracking_to_local = extrapolator.ExtrapolatePose(now);
const Rigid3d tracking_to_map = const Rigid3d tracking_to_map =