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merged master->ros2

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matlabbe
2025-07-04 15:02:12 -07:00
parent aa7f42a57e 3cc9db8f87
commit 42142de82c
4 changed files with 99 additions and 12 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+2 -3
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@@ -718,12 +718,11 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
mapToOdomMutex_.lock();
if(!odomFrameId_.empty())
{
rclcpp::Time tfExpiration = now() + rclcpp::Duration::from_seconds(tfTolerance);
geometry_msgs::msg::TransformStamped msg;
rtabmap_conversions::transformToGeometryMsg(mapToOdom_, msg.transform);
msg.child_frame_id = odomFrameId_;
msg.header.frame_id = mapFrameId_;
msg.header.stamp = tfExpiration;
rtabmap_conversions::transformToGeometryMsg(mapToOdom_, msg.transform);
msg.header.stamp = now() + rclcpp::Duration::from_seconds(tfTolerance);
tfBroadcaster_->sendTransform(msg);
}
mapToOdomMutex_.unlock();