add function getTypeLayer

2025-12-31 10:11:12 +07:00
parent 6c682712fe
commit ae469e3271
11 changed files with 60 additions and 10 deletions
--- a/plugins/static_layer.cpp
+++ b/plugins/static_layer.cpp
@@ -347,7 +347,7 @@ void StaticLayer::updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_
    tf3::TransformStampedMsg transformMsg;
    try
    {
-      transformMsg = tf_->lookupTransform(map_frame_, global_frame_, tf3::Time::now());
+      transformMsg = tf_->lookupTransform(map_frame_, global_frame_, tf3::Time());
    }
    catch (tf3::TransformException ex)
    {