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simple_offboard: avoid TF_REPEATED_DATA when publishing body frame

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This commit is contained in:
Oleg Kalachev
2022-06-02 17:37:39 +03:00
parent 8d9dc1d122
commit db0393a6f0
1 changed files with 3 additions and 0 deletions
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3
clover/src/simple_offboard.cpp
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@@ -150,6 +150,9 @@ void handleState(const mavros_msgs::State& s)
inline void publishBodyFrame()
{
if (body.child_frame_id.empty()) return;
if (!body.header.stamp.isZero() && body.header.stamp == local_position.header.stamp) {
return; // avoid TF_REPEATED_DATA warnings
}
tf::Quaternion q;
q.setRPY(0, 0, tf::getYaw(local_position.pose.orientation));