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selfcheck.py: add checking map=>body transform

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This commit is contained in:
Oleg Kalachev
2022-02-01 07:00:01 +03:00
parent afe8abcd96
commit d0a0e5d50d
1 changed files with 3 additions and 0 deletions
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3
clover/src/selfcheck.py
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@@ -483,6 +483,9 @@ def check_local_position():
if not tf_buffer.can_transform('base_link', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
failure('can\'t transform from %s to base_link (timeout 0.5 s): is TF enabled?', pose.header.frame_id)
if not tf_buffer.can_transform('body', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
failure('can\'t transform from %s to body (timeout 0.5 s)', pose.header.frame_id)
except rospy.ROSException:
failure('no local position')