I realized many (including me) have extrapolation errors due to not having future-dated tf transforms, which causes problems with SLAM or amcl and movebase's baselocal_planner.

A solution is provided here, by adding a waitForTransform in the goal_functions.cpp. However, this modification does not exist in melodic.

Thus I would like to ask whether there is something I'm missing for integrating this fix into melodic, or indeed I would have to manually add this into the code