Wait for odometry message before setting manual datum so that the base and world frame names can be set. #835
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As with the other PR, if you could fix the uncrustify errors, that would be great (they may not be from this PR, not sure). |
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@ayrton04 Hi! That is a large list of lint/uncrustify errors, none of which resulted from my changes. I have only changed 2 files, but the lint errors are across almost all files. I would be reluctant to make all of those changes on these PRs since these PRs are very small in scope. What do you recommend? |
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Yeah, let's ignore it. Maybe before this package gets officially sunsetted, we'll do a separate PR to clean that all up. |
ayrton04
approved these changes
Oct 26, 2023
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Hi @ayrton04. When will these two pull requests be merged? Thanks! |
HaoguangYang
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Mar 26, 2024
* Changelogs * 3.4.0 * Adding issue templates * Update issue templates * install headers (cra-ros-pkg#786) * bump Humble to 3.4.1 for release (cra-ros-pkg#789) * bumping to 3.4.2 for humble release (cra-ros-pkg#806) * bumping humble to 3.5.1 to override incorrect binaries (cra-ros-pkg#816) * Utm using geographiclib humble branch (cra-ros-pkg#834) * Add single test for navsat_conversions * Add a southern point to the navsat_transform test * LLtoUTM using GeographicLib * Use GeographicLib for UTMtoLL conversions * Linting * Forgot include * Fix compilation * Calculate gamma because it's a function output and was supplied before * Also test for gamma conversion * Align naming and install * Utm using geographiclib ros2 branch (cra-ros-pkg#833) * Add single test for navsat_conversions * Add a southern point to the navsat_transform test * LLtoUTM using GeographicLib * Use GeographicLib for UTMtoLL conversions * Linting * Forgot include * Fix compilation * Calculate gamma because it's a function output and was supplied before * Also test for gamma conversion * Align naming and install * Test navsat transform functionality (cra-ros-pkg#838) * Wait for odometry message before setting manual datum so that the base and world frame names can be set. (cra-ros-pkg#835) * wait for odom msg before setting manual datum * Wait for odometry message before setting manual datum so that the base and world frame names can be set. (cra-ros-pkg#836) * wait for odom msg before setting manual datum * fix header timestamp (cra-ros-pkg#852) Co-authored-by: Luke Chang <luke@boxfish.nz> * fix header timestamp (cra-ros-pkg#852) Co-authored-by: Luke Chang <luke@boxfish.nz> * Changelogs * 3.5.2 * Fixing angle clamping for humble (cra-ros-pkg#854) * fix: modify dual_ekf_navsat_example.launch file to remap the correct imu topic (cra-ros-pkg#857) * Feature/set utm service (cra-ros-pkg#856) * Forward port Fix/set utm map frame change --------- Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> * simplified calculation * simplified calculation * Update issue templates * Migrate static tfs to ros2 format. (cra-ros-pkg#864) * Fix throttle duration (cra-ros-pkg#866) * Fix throttle duration * Update ukf.yaml to match ekf.yaml (cra-ros-pkg#867) Add missing *_pose_use_child_frame parameter. * updated file formatting --------- Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Tom Moore <tmoore@locusrobotics.com> Co-authored-by: Olivier Kermorgant <olivier_kermorgant@yahoo.fr> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Tom Greier <tgreier@moog.com> Co-authored-by: Luke Chang <luke.x.chang@gmail.com> Co-authored-by: Luke Chang <luke@boxfish.nz> Co-authored-by: joeldushouyu <65317431+joeldushouyu@users.noreply.github.com> Co-authored-by: Mukunda Bharatheesha <mukunda.bharatheesha@nobleo.nl> Co-authored-by: thandal <than@timbrel.org>
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Issue #820
Wait for odom callback before setting manual datum so that the reference frame names are properly set.
Otherwise, there is a race condition where if the transform callback runs before the odom callback, then the reference frame names are not set, and the navsat_transform will publish incorrect transforms for cartesian<->world frames.