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rtabmap:odomUpdate(): detect correctly zero timestamp

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matlabbe
2021-12-07 10:51:42 -05:00
parent f08130fe20
commit aef20f17b5
1 changed files with 4 additions and 1 deletions
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src/CoreWrapper.cpp
+4 -1
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@@ -993,7 +993,10 @@ bool CoreWrapper::odomUpdate(const nav_msgs::OdometryConstPtr & odomMsg, ros::Ti
Transform odom = rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose); Transform odom = rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose);
if(!odom.isNull()) if(!odom.isNull())
{ {
Transform odomTF = rtabmap_ros::getTransform(odomMsg->header.frame_id, frameId_, stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0.0); Transform odomTF;
if(!stamp.isZero()) {
odomTF = rtabmap_ros::getTransform(odomMsg->header.frame_id, frameId_, stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0.0);
}
if(odomTF.isNull()) if(odomTF.isNull())
{ {
static bool shown = false; static bool shown = false;