Reference Issue #592 Added warning to AMCL when map is published on ... #604
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…orrect topic but its frame_id doesn't match the global_frame_id
mikeferguson
reviewed
Aug 2, 2017
amcl/src/amcl_node.cpp
Outdated
| @@ -802,6 +802,11 @@ AmclNode::handleMapMessage(const nav_msgs::OccupancyGrid& msg) | |||
| msg.info.width, | |||
| msg.info.height, | |||
| msg.info.resolution); | |||
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| if(msg.header.frame_id != global_frame_id_) | |||
| ROS_WARN("Frame_id of map received:'%s' doesn't match global_frame_id:'%s;'. This could cause issues with reading published topics", | |||
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this PR has a mix of tabs + spaces -- which is why github is rendering it odd. The amcl code base isn't perfect on style guide, but I do try to ask new code be mostly compatible. Could you update your changes to use ONLY spaces, and in particular 2 spaces indent for each new block (you can just push a new commit and I will squash later). Thanks!
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Cherry picked to lunar |
gerkey
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to codebot/navigation
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Jan 19, 2018
johaq
pushed a commit
to CentralLabFacilities/navigation
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Mar 30, 2018
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...correct topic but its frame_id doesn't match the global_frame_id