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Sets stamped_transform timestamp to ros::Time::now() (#143)

master
Stefan Kohlbrecher 2016-10-26 12:40:19 +02:00 committed by Damon Kohler
parent 5f5762f458
commit ec2d54ef84
1 changed files with 1 additions and 1 deletions
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cartographer_ros/cartographer_ros/node_main.cc
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@ -402,7 +402,7 @@ void Node::PublishPoseAndScanMatchedPointCloud(
const Rigid3d tracking_to_map = local_to_map * tracking_to_local; const Rigid3d tracking_to_map = local_to_map * tracking_to_local;
geometry_msgs::TransformStamped stamped_transform; geometry_msgs::TransformStamped stamped_transform;
stamped_transform.header.stamp = ToRos(last_pose_estimate.time); stamped_transform.header.stamp = ros::Time::now();
const auto published_to_tracking = tf_bridge_.LookupToTracking( const auto published_to_tracking = tf_bridge_.LookupToTracking(
last_pose_estimate.time, options_.published_frame); last_pose_estimate.time, options_.published_frame);