From dd013535337c6e90dfcc253bffe8eaf8c5c17cd1 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 31 May 2022 12:20:07 +0300 Subject: [PATCH] vpe_publisher: fix force init --- clover/src/vpe_publisher.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/clover/src/vpe_publisher.cpp b/clover/src/vpe_publisher.cpp index 500fddc9..f2ebcf86 100644 --- a/clover/src/vpe_publisher.cpp +++ b/clover/src/vpe_publisher.cpp @@ -38,9 +38,9 @@ TransformStamped offset; void publishZero(const ros::TimerEvent& e) { - if (e.current_real - vpe.header.stamp < publish_zero_timout) return; // have vpe + if (!vpe.header.stamp.isZero() && e.current_real - vpe.header.stamp < publish_zero_timout) return; // have vpe - if (e.current_real - pose.header.stamp < publish_zero_timout) { // have local position + if (!pose.header.stamp.isZero() && e.current_real - pose.header.stamp < publish_zero_timout) { // have local position if (got_local_pos.isZero()) { ROS_INFO("got local position"); got_local_pos = e.current_real;