From 379ebee1fb80439e4d1e99069d6ccaf58caaa71d Mon Sep 17 00:00:00 2001 From: Cameron Brown Date: Thu, 22 Feb 2024 17:39:44 -0500 Subject: [PATCH] Fix odom messages being converted to tf --- mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp b/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp index 953f0fcbd..6c2794453 100644 --- a/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp +++ b/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp @@ -21,7 +21,7 @@ class odometry_to_tf : public nodelet::Nodelet { tf::Transform transform; poseMsgToTF(msg->pose.pose, transform); - if (_last_tf_stamps.count(msg->header.frame_id) && _last_tf_stamps[msg->header.frame_id] <= msg->header.stamp) + if (_last_tf_stamps.count(msg->header.frame_id) && _last_tf_stamps[msg->header.frame_id] == msg->header.stamp) { return; }