HiepLM/pnkx_nav_core
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update

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HiepLM 2025-12-29 16:25:58 +07:00
parent b22ac17c71
commit 1de5a35cc7
2 changed files with 1 additions and 5 deletions
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2
src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/tf_help.h
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@ -83,7 +83,7 @@ namespace robot_nav_2d_utils
* @param frame_id Frame to transform the pose into * @param frame_id Frame to transform the pose into
* @return The resulting transformed pose * @return The resulting transformed pose
*/ */
::geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const ::robot_nav_2d_msgs::Pose2DStamped &pose, geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const ::robot_nav_2d_msgs::Pose2DStamped &pose,
const ::std::string &frame_id); const ::std::string &frame_id);
} // namespace robot_nav_2d_utils } // namespace robot_nav_2d_utils

4
src/Navigations/Packages/move_base/src/move_base.cpp
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@ -1275,10 +1275,7 @@ geometry_msgs::PoseStamped move_base::MoveBase::goalToGlobalFrame(const geometry
geometry_msgs::PoseStamped goal_pose, global_pose; geometry_msgs::PoseStamped goal_pose, global_pose;
goal_pose = goal_pose_msg; goal_pose = goal_pose_msg;
// just get the latest available transform... for accuracy they should send
// goals in the frame of the planner
goal_pose.header.stamp = robot::Time(); // latest available goal_pose.header.stamp = robot::Time(); // latest available
try try
{ {
tf3::TransformStampedMsg transform = tf_->lookupTransform(global_frame, goal_pose.header.frame_id, data_convert::convertTime(goal_pose.header.stamp)); tf3::TransformStampedMsg transform = tf_->lookupTransform(global_frame, goal_pose.header.frame_id, data_convert::convertTime(goal_pose.header.stamp));
@ -1299,7 +1296,6 @@ geometry_msgs::PoseStamped move_base::MoveBase::goalToGlobalFrame(const geometry
std::cerr << "Extrapolation Error looking up robot pose: " << ex.what() << std::endl; std::cerr << "Extrapolation Error looking up robot pose: " << ex.what() << std::endl;
return goal_pose_msg; return goal_pose_msg;
} }
return global_pose; return global_pose;
} }