only publish on updated transform to avoid TF_REPEATED_DATA

Author: fmessmer

include/pointcloud_to_laserscan/frame_publisher.h

@@ -76,6 +76,7 @@ class FramePublisher
   std::string frame_name_;
   bool use_to_frame_translation_;
   bool rot_z_, rot_x_, rot_y_;
+  geometry_msgs::TransformStamped published_msg_;
 };
 
 #endif  // FRAME_PUB_H

src/frame_publisher.cpp

@@ -132,7 +132,10 @@ void FramePublisher::frameBroadcastCallback(const ros::TimerEvent& event)
   // Broadcast new frame
   geometry_msgs::TransformStamped published_msg = tf2::toMsg(published_tf);
   published_msg.child_frame_id = frame_name_;
-  published_msg.header.stamp = ros::Time::now();  //update stamp to avoid TF_REPEATED_DATA (noetic)
-  tf_broadcaster_.sendTransform(published_msg);
-  ROS_DEBUG_STREAM("FramePublisher::frameBroadcastCallback: published_msg:\n" << published_msg);
+  if (published_msg != published_msg_)  //only publish on updated transform to avoid TF_REPEATED_DATA (noetic)
+  {
+    tf_broadcaster_.sendTransform(published_msg);
+    ROS_DEBUG_STREAM("FramePublisher::frameBroadcastCallback: published_msg:\n" << published_msg);
+  }
+  published_msg_ = published_msg;
 }