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Removed duplications of the odom tf publication #83

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Removed duplications of the odom tf publication #83

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2 changes: 2 additions & 0 deletions robot_controllers/include/robot_controllers/diff_drive_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -183,6 +183,8 @@ class DiffDriveBaseController : public Controller

boost::shared_ptr<tf::TransformBroadcaster> broadcaster_;
bool publish_tf_;
// The time of the most recent published state
ros::Time last_published_tf_stamp_;

bool enabled_;
bool ready_;
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6 changes: 5 additions & 1 deletion robot_controllers/src/diff_drive_base.cpp
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Expand Up @@ -375,7 +375,8 @@ void DiffDriveBaseController::publishCallback(const ros::TimerEvent& event)
msg.header.stamp = ros::Time::now();
odom_pub_.publish(msg);

if (publish_tf_)
// As of ROS Noetic, TF2 will issue warnings whenever we try to publish with the same time stamp.
if (publish_tf_ && msg.header.stamp > last_published_tf_stamp_)
{
tf::Transform transform;
transform.setOrigin(tf::Vector3(msg.pose.pose.position.x, msg.pose.pose.position.y, 0.0));
Expand All @@ -389,6 +390,9 @@ void DiffDriveBaseController::publishCallback(const ros::TimerEvent& event)
*/
broadcaster_->sendTransform(tf::StampedTransform(transform, msg.header.stamp, msg.header.frame_id, msg.child_frame_id));
}

// Retain the last published stamp for detecting repeatedtransforms in future cycles
last_published_tf_stamp_ = msg.header.stamp;
}

void DiffDriveBaseController::scanCallback(
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