From db0393a6f03f235233c0a97c979507525a2aa0a4 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 2 Jun 2022 17:37:39 +0300 Subject: [PATCH] simple_offboard: avoid TF_REPEATED_DATA when publishing body frame --- clover/src/simple_offboard.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/clover/src/simple_offboard.cpp b/clover/src/simple_offboard.cpp index bf785d83..b8f57033 100644 --- a/clover/src/simple_offboard.cpp +++ b/clover/src/simple_offboard.cpp @@ -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));