Fix wrong publish timestamp initialization #585
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Signed-off-by: Noel Jimenez <noel.jimenez@pal-robotics.com>
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Signed-off-by: Noel Jimenez <noel.jimenez@pal-robotics.com>
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* Fix publish timestamp Signed-off-by: Noel Jimenez <noel.jimenez@pal-robotics.com> * Document catch purpose Signed-off-by: Noel Jimenez <noel.jimenez@pal-robotics.com> --------- Signed-off-by: Noel Jimenez <noel.jimenez@pal-robotics.com> (cherry picked from commit 7cb4128)
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With the current implementation the
previous_publish_timestamp_variable was initialized in theon_configuremethod.However, when using the simulation, the time source has not been always updated to the ros time and it's initialized to the system time, so the condition for publishing the odometry and the related tf is never satisfied:
system_time+publish_period_is always >simulation_timeWith this fix,
previous_publish_timestamp_starts without an uninitialized clock and whenever the time source changes, it is initialized/changed.The odometry will be published in 2 cases: