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magazino / move_base_flex

Move Base Flex: a backwards-compatible replacement for move_base
https://uos.github.io/mbf_docs/
BSD 3-Clause "New" or "Revised" License
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accept tf_timeout < 0 to ignore timeout #332

Open knorth55 opened 7 months ago

knorth55 commented 7 months ago

this PR change to accept tf_timeout param -1 to ignore transformation timeout check. this is useful when we use tf_static_transformer for debugging.

corot commented 7 months ago

Why not just passing a very big value? And can u actually have a negative ros::Duration?

I would instead reconsider your use case; I'm not at all convince about the need of this change

knorth55 commented 7 months ago

tf_static_publisher uses the first timestamp when node starts. we run robots for weeks, so the duration will be super large. so i use -1 as tf.lookUTransform

knorth55 commented 7 months ago

we dont use map and amcl, so we directly connect odom and map by tf_static_publisher.