Future dated move_base to fix extrapolation errors on melodic

asked 2021-05-12 07:21:28 -0500

AlexandrosNic gravatar image

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

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