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simple_offboard: avoid TF_REPEATED_DATA warnings of setpoint frame

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Oleg Kalachev
2021-08-12 13:00:23 +03:00
parent 6700d8728f
commit a1b3efe67d
1 changed files with 4 additions and 0 deletions
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4
clover/src/simple_offboard.cpp
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@@ -441,6 +441,10 @@ void publish(const ros::Time stamp)
// publish setpoint frame
if (!setpoint.child_frame_id.empty()) {
if (setpoint.header.stamp == position_msg.header.stamp) {
return; // avoid TF_REPEATED_DATA warnings
}
setpoint.transform.translation.x = position_msg.pose.position.x;
setpoint.transform.translation.y = position_msg.pose.position.y;
setpoint.transform.translation.z = position_msg.pose.position.z;