Fix LaserScan reset not invalidating the time_tolerance_

Author: Hugal31

rviz_default_plugins/include/rviz_default_plugins/displays/laser_scan/laser_scan_display.hpp

@@ -87,6 +87,8 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC LaserScanDisplay : public
   /** create a status warning when tolerance is larger than 1s */
   void checkTolerance(rclcpp::Duration tolerance);
 
+  void subscribe() override;
+
   std::unique_ptr<PointCloudCommon> point_cloud_common_;
   std::unique_ptr<laser_geometry::LaserProjection> projector_;
   rclcpp::Duration filter_tolerance_;

rviz_default_plugins/src/rviz_default_plugins/displays/laser_scan/laser_scan_display.cpp

@@ -137,6 +137,13 @@ void LaserScanDisplay::onDisable()
   point_cloud_common_->onDisable();
 }
 
+void LaserScanDisplay::subscribe()
+{
+  MFDClass::subscribe();
+  // Subscribe resets the tf_filter_, so update filter_tolerance_ to reflect that.
+  filter_tolerance_ = rclcpp::Duration{0, 0};
+}
+
 }  // namespace displays
 }  // namespace rviz_default_plugins