fix(ndt_scan_matcher): fix timestamp in service_ndt_align func #8599
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Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
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SakodaShintaro
approved these changes
Aug 23, 2024
| @@ -961,7 +961,8 @@ void NDTScanMatcher::service_ndt_align_main( | |||
| diagnostics_ndt_align_->add_key_value("is_succeed_transform_initial_pose", true); | |||
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| // transform pose_frame to map_frame | |||
| const auto initial_pose_msg_in_map_frame = transform(req->pose_with_covariance, transform_s2t); | |||
| auto initial_pose_msg_in_map_frame = transform(req->pose_with_covariance, transform_s2t); | |||
| initial_pose_msg_in_map_frame.header.stamp = req->pose_with_covariance.header.stamp; | |||
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[Note]
transform :
tf2::doTransform
The header is copied from transform.
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #8599 +/- ##
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Coverage 23.99% 24.00%
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Files 1385 1385
Lines 102485 102496 +11
Branches 38994 38996 +2
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+ Hits 24592 24602 +10
Misses 75410 75410
- Partials 2483 2484 +1
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
kyoichi-sugahara
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Aug 27, 2024
…arefoundation#8599) fix timestamp Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
a-maumau
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Sep 2, 2024
…arefoundation#8599) fix timestamp Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
ktro2828
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Sep 18, 2024
…arefoundation#8599) fix timestamp Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
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Description
The timestamp of
/initialpose3dwas always set to 0, so I investigated the cause and made the necessary fixes.Related links
Parent Issue:
How was this PR tested?
Lsim works.
and check the timestamp of
/initialpose3d.Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.