From d0a0e5d50d55cf2ed5188f2ecb13b0ee94895573 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 1 Feb 2022 07:00:01 +0300 Subject: [PATCH] selfcheck.py: add checking map=>body transform --- clover/src/selfcheck.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/clover/src/selfcheck.py b/clover/src/selfcheck.py index 37c33598..34aae23e 100755 --- a/clover/src/selfcheck.py +++ b/clover/src/selfcheck.py @@ -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')