Map server wait for a valid time, fix ros-planning#573 (ros-planning#700

) When launching the map_server with Gazebo, the current time is picked before the simulation is started and then has a value of 0. Later when querying the stamp of the map, a value of has a special signification on tf transform for example.
RobotnikAutomation · Mar 29, 2018 · 9edda2b · 9edda2b
1 parent 43e9297
commit 9edda2b
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/map_server/src/main.cpp b/map_server/src/main.cpp
@@ -174,6 +174,8 @@ class MapServer
           ROS_ERROR("%s", e.what());
           exit(-1);
       }
+      // To make sure get a consistent time in simulation
+      ros::Time::waitForValid();
       map_resp_.map.info.map_load_time = ros::Time::now();
       map_resp_.map.header.frame_id = frame_id;
       map_resp_.map.header.stamp = ros::Time::now();