only check stamp

fmessmer · fmessmer · commit f1d19e5d878f · 2021-02-22T10:26:55.000+01:00
diff --git a/src/frame_publisher.cpp b/src/frame_publisher.cpp
@@ -132,7 +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_;
-  if (published_msg != published_msg_)  //only publish on updated transform to avoid TF_REPEATED_DATA (noetic)
+  if (published_msg.header.stamp != published_msg_.header.stamp)  //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);

Original file line number	Diff line number	Diff line change
`@@ -132,7 +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`		`- if (published_msg != published_msg_) //only publish on updated transform to avoid TF_REPEATED_DATA (noetic)`
	`135`	`+ if (published_msg.header.stamp != published_msg_.header.stamp) //only publish on updated transform to avoid TF_REPEATED_DATA (noetic)`
`136`	`136`	`{`
`137`	`137`	`tf_broadcaster_.sendTransform(published_msg);`
`138`	`138`	`ROS_DEBUG_STREAM("FramePublisher::frameBroadcastCallback: published_msg:\n" << published_msg);`