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Use RTTFBuffer's future extrapolation instead of TF fallbacks and waits - #156
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The sensor pose at the cloud's stamp no longer falls back to the current TF, or to the identity: RTTFBuffer extrapolates a cloud slightly newer than the odometry, and a cloud without TF is skipped. Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
RTTFBuffer extrapolates a cloud slightly newer than the latest TF, so the lookup no longer blocks the callback. Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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Refs EasyNavigation/EasyNavigation#147
Depends on EasyNavigation/EasyNavigation#148
With
RTTFBufferextrapolating a cloud slightly newer than the latest TF, the workarounds forthat case go:
to the identity. A cloud without its TF is not scored, with a throttled warning.
50 ms, so the callback is not blocked.
Tested in the TIAGo and Summit playgrounds (NavMap AMCL), with normal and stalled odometry TF.