ros navigation navfn make plan after re-set the initialpose of AMCL
Hi all,
I have an observation when I re-set the initialpose of amcl by publishing to the initialpose topic and then sent goal to the navigation stack. The plan made by the navfn was still starting from the old pose of the robot rather than the new one that I just set. The navfn got the robot pose by looking up the transform published by amcl. Is this because the amcl need to take some time to publish the new transform after re-setting initialpose and navfn doesn't get the new robot pose immediately?
Please correct me if I am wrong and appreciate any solution on this. Thanks all.