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fix mesh map stamp when using sim time #67

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merged 1 commit into from
Nov 20, 2024
Merged

fix mesh map stamp when using sim time #67

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12 changes: 11 additions & 1 deletion mesh_map/src/mesh_map.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -265,7 +265,17 @@ bool MeshMap::readMap()
}
}

const rclcpp::Time map_stamp = node->now();
rclcpp::Time map_stamp = node->now();
// Workaround: Avoid publishing a map with zero timestamp.
// This can occur when using sim time and the node using mesh map starts to quickly,
// before whatever should publish /clock (e.g. gazebo) is ready.
// A map with timestamp zero will not get displayed in rviz.
// Generally, a zero timestamp is currently considered be an error / unintialized stamp.
// Issue https://github.com/ros2/rclcpp/issues/2025 might want to change that, though.
while (map_stamp.nanoseconds() == 0) { // TODO check whether time is zero
sleep(0.5);
map_stamp = node->now();
}
mesh_geometry_pub->publish(mesh_msgs_conversions::toMeshGeometryStamped<float>(*mesh_ptr, global_frame, uuid_str, vertex_normals, map_stamp));
publishVertexColors(map_stamp);

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