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fix(ndt_scan_matcher): fix timestamp in service_ndt_align func #8599

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Aug 26, 2024
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fix(ndt_scan_matcher): fix timestamp in service_ndt_align func #8599

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3 changes: 2 additions & 1 deletion localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -961,7 +961,8 @@ void NDTScanMatcher::service_ndt_align_main(
diagnostics_ndt_align_->add_key_value("is_succeed_transform_initial_pose", true);

// 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 :

autoware.universe/localization/localization_util/include/localization_util/util_func.hpp

Lines 70 to 76 in 18b5ee1

template <class T>
T transform(const T & input, const geometry_msgs::msg::TransformStamped & transform)
{
T output;
tf2::doTransform<T>(input, output, transform);
return output;
}

tf2::doTransform

https://github.com/ros2/geometry2/blob/ae8a167e10ee65b4a44a9d7b71cd23d2579215f8/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp#L789-L814

The header is copied from transform.

map_update_module_->update_map(
initial_pose_msg_in_map_frame.pose.pose.position, diagnostics_ndt_align_);

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