Skip to content

Fix pose timestamp when using transformPoseInTargetFrame #5499

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 3 commits into from
Sep 4, 2025
Merged

Fix pose timestamp when using transformPoseInTargetFrame #5499

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
17b278c
Fix pose timestamp when using transformPoseInTargetFrame
mini-1235 Aug 29, 2025
a1e07eb
Fix frame
mini-1235 Aug 29, 2025
61e6fdd
Update nav2_route/src/goal_intent_extractor.cpp
mini-1235 Sep 4, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions nav2_controller/src/controller_server.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -799,6 +799,7 @@ bool ControllerServer::isGoalReached()
geometry_msgs::msg::Twist velocity = getThresholdedTwist(odom_sub_->getRawTwist());

geometry_msgs::msg::PoseStamped transformed_end_pose;
end_pose_.header.stamp = pose.header.stamp;
nav2_util::transformPoseInTargetFrame(
end_pose_, transformed_end_pose, *costmap_ros_->getTfBuffer(),
costmap_ros_->getGlobalFrameID(), costmap_ros_->getTransformTolerance());
Expand Down
16 changes: 12 additions & 4 deletions nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -290,6 +290,7 @@ DWBLocalPlanner::prepareGlobalPlan(
}

goal_pose.header.frame_id = global_plan_.header.frame_id;
goal_pose.header.stamp = pose.header.stamp;
goal_pose.pose = global_plan_.poses.back().pose;
nav2_util::transformPoseInTargetFrame(
goal_pose, goal_pose, *tf_,
Expand Down Expand Up @@ -535,10 +536,17 @@ DWBLocalPlanner::transformGlobalPlan(
// Helper function for the transform below. Converts a pose2D from global
// frame to local
auto transformGlobalPoseToLocal = [&](const auto & global_plan_pose) {
geometry_msgs::msg::PoseStamped transformed_pose;
nav2_util::transformPoseInTargetFrame(
global_plan_pose, transformed_pose, *tf_,
transformed_plan.header.frame_id, transform_tolerance_);
geometry_msgs::msg::PoseStamped stamped_pose, transformed_pose;
stamped_pose.header.frame_id = global_plan_.header.frame_id;
stamped_pose.header.stamp = robot_pose.header.stamp;
stamped_pose.pose = global_plan_pose.pose;
if (!nav2_util::transformPoseInTargetFrame(
stamped_pose, transformed_pose, *tf_,
transformed_plan.header.frame_id, transform_tolerance_))
{
throw nav2_core::ControllerTFError("Unable to transform plan pose into local frame");
}
transformed_pose.pose.position.z = 0.0;
return transformed_pose;
};

Expand Down
2 changes: 2 additions & 0 deletions nav2_route/src/goal_intent_extractor.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -175,6 +175,7 @@ GoalIntentExtractor::findStartandGoal(const std::shared_ptr<const GoalT> goal)
node_pose.pose.position.x = node_data.coords.x;
node_pose.pose.position.y = node_data.coords.y;
node_pose.header.frame_id = node_data.coords.frame_id;
node_pose.header.stamp = start_pose.header.stamp;
candidate_nodes.push_back(transformPose(node_pose, costmap_frame_id));
}

Expand Down Expand Up @@ -202,6 +203,7 @@ GoalIntentExtractor::findStartandGoal(const std::shared_ptr<const GoalT> goal)
node_pose.pose.position.x = node_data.coords.x;
node_pose.pose.position.y = node_data.coords.y;
node_pose.header.frame_id = node_data.coords.frame_id;
node_pose.header.stamp = goal_pose.header.stamp;
candidate_nodes.push_back(transformPose(node_pose, costmap_frame_id));
}

Expand Down
Loading