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fix(ndt_scan_matcher): check first old_pose_msg for initialization #2660

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merged 2 commits into from
Jan 17, 2023
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fix(ndt_scan_matcher): check first old_pose_msg for initialization #2660

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d8558e4
fix(ndt_scan_matcher): check first old_pose_msg for initialization
meliketanrikulu Jan 16, 2023
a14cd78
fix(ndt_scan_matcher): check with old_pose_time_stamp
meliketanrikulu Jan 17, 2023
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3 changes: 2 additions & 1 deletion localization/ndt_scan_matcher/src/util_func.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -129,7 +129,8 @@ void get_nearest_timestamp_pose(
const rclcpp::Time pose_time_stamp = output_new_pose_cov_msg_ptr->header.stamp;
if (pose_time_stamp > time_stamp) {
// TODO(Tier IV): refactor
if (pose_time_stamp.seconds() == 0.0) {
const rclcpp::Time old_pose_time_stamp = output_old_pose_cov_msg_ptr->header.stamp;
if (old_pose_time_stamp.seconds() == 0.0) {
output_old_pose_cov_msg_ptr = output_new_pose_cov_msg_ptr;
}
break;
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