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Limit TF_REPEATED_DATA messages by checking for repeated transforms #1097

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merged 1 commit into from
Oct 10, 2023
Merged

Limit TF_REPEATED_DATA messages by checking for repeated transforms #1097

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7 changes: 0 additions & 7 deletions SubjuGator/simulation/subjugator_gazebo/urdf/sub8.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,6 @@
<xacro:include filename="$(find mil_gazebo)/xacro/passive_sonar.xacro"/>
<xacro:include filename="$(find mil_gazebo)/xacro/inclinometer.xacro"/>

<link name="world"/>

<!-- Base link of sub -->
<link name="base_link">
<inertial>
Expand All @@ -33,11 +31,6 @@
</collision>
</link>

<joint name="dummy_joint" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>

<!-- Sensors -->
<xacro:mil_fixed_link name="front_stereo" parent="base_link" xyz="0.2559 0 0.1707" rpy="0 0 0"/>
<xacro:mil_camera name="front_left_cam" parent="front_stereo" namespace="/camera/front/left" xyz="0 0.0445 0" rpy="0 0 0"/>
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8 changes: 8 additions & 0 deletions mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,9 @@
#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>

#include <map>
#include <pluginlib/class_list_macros.hpp>
#include <string>

namespace odometry_utils
{
Expand All @@ -13,11 +15,17 @@ class odometry_to_tf : public nodelet::Nodelet
private:
ros::Subscriber odom_sub;
tf::TransformBroadcaster tf_br;
std::map<std::string, ros::Time> _last_tf_stamps;

void handle_odom(const nav_msgs::Odometry::ConstPtr& msg)
{
tf::Transform transform;
poseMsgToTF(msg->pose.pose, transform);
if (_last_tf_stamps.count(msg->header.frame_id) && _last_tf_stamps[msg->header.frame_id] <= msg->header.stamp)
{
return;
}
_last_tf_stamps[msg->header.frame_id] = msg->header.stamp;
tf::StampedTransform stamped_transform(transform, msg->header.stamp, msg->header.frame_id, msg->child_frame_id);
tf_br.sendTransform(stamped_transform);
}
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