update stamp to avoid TF_REPEATED_DATA

fmessmer · fmessmer · commit 6c3575cb1143 · 2021-02-22T09:15:10.000+01:00
diff --git a/src/frame_publisher.cpp b/src/frame_publisher.cpp
@@ -132,6 +132,7 @@ 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);
 }

Original file line number	Diff line number	Diff line change
`@@ -132,6 +132,7 @@ void FramePublisher::frameBroadcastCallback(const ros::TimerEvent& event)`
`132`	`132`	`// Broadcast new frame`
`133`	`133`	`geometry_msgs::TransformStamped published_msg = tf2::toMsg(published_tf);`
`134`	`134`	`published_msg.child_frame_id = frame_name_;`
	`135`	`+ published_msg.header.stamp = ros::Time::now(); //update stamp to avoid TF_REPEATED_DATA (noetic)`
`135`	`136`	`tf_broadcaster_.sendTransform(published_msg);`
`136`	`137`	`ROS_DEBUG_STREAM("FramePublisher::frameBroadcastCallback: published_msg:\n" << published_msg);`
`137`	`138`	`}`