HiepLM/AMR_T800
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HiepLM
2026-02-26 14:56:03 +07:00
parent 148a5e2c60
commit 39bc1796af
2 changed files with 20 additions and 10 deletions
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28
Controllers/Packages/amr_control/src/tf_converter.cpp
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@@ -27,20 +27,30 @@ void amr_control::TfConverter::tfWorker()
std::string tree; std::string tree;
std::string line; std::string line;
int count_tf_receive_done = 0;
ros::Rate rate(20); ros::Rate rate(20);
while (ros::ok() && !stop_tf_thread_) while (ros::ok() && !stop_tf_thread_)
{ {
tree = tfBuffer.allFramesAsString(); ros::spinOnce();
tree = tfBuffer.allFramesAsString();
if (!tree.empty() && tree == last_tree)
{
count_tf_receive_done++;
}
else
{
count_tf_receive_done = 0;
}
if (!tree.empty() && tree == last_tree) if(count_tf_receive_done > 2)
{ {
// ROS_WARN("TF tree stabilized: \n%s", tree.c_str()); ROS_WARN("TF tree stabilized: \n%s", tree.c_str());
break; break;
} }
last_tree = tree; last_tree = tree;
ros::spinOnce();
rate.sleep(); rate.sleep();
} }
std::istringstream iss(tree); std::istringstream iss(tree);

2
pnkx_nav_core

Submodule pnkx_nav_core updated: b7e4c73c14...34cabd2083