Add back future dating for robot_state_publisher (#49)

ros · May 12, 2016 · 6219fca · 6219fca
1 parent b38ebed
commit 6219fca
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/robot_state_publisher.cpp b/src/robot_state_publisher.cpp
@@ -113,6 +113,9 @@ namespace robot_state_publisher{
     for (map<string, SegmentPair>::const_iterator seg=segments_fixed_.begin(); seg != segments_fixed_.end(); seg++){
       geometry_msgs::TransformStamped tf_transform = tf2::kdlToTransform(seg->second.segment.pose(0));
       tf_transform.header.stamp = ros::Time::now();
+      if (!use_tf_static) {
+        tf_transform.header.stamp += ros::Duration(0.5);
+      }
       tf_transform.header.frame_id = tf::resolve(tf_prefix, seg->second.root);
       tf_transform.child_frame_id = tf::resolve(tf_prefix, seg->second.tip);
       tf_transforms.push_back(tf_transform);