From 7603232327c9e727c05da1d5a8a019b94d8a3b27 Mon Sep 17 00:00:00 2001 From: 1moule <1961466188@qq.com> Date: Wed, 2 Apr 2025 12:50:27 +0800 Subject: [PATCH] Fix tf publish rate. --- robot_state_controller/src/robot_state_controller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot_state_controller/src/robot_state_controller.cpp b/robot_state_controller/src/robot_state_controller.cpp index c398483d..6ee89e3c 100644 --- a/robot_state_controller/src/robot_state_controller.cpp +++ b/robot_state_controller/src/robot_state_controller.cpp @@ -145,7 +145,7 @@ void RobotStateController::update(const ros::Time& time, const ros::Duration& pe tf_buffer_->setTransform(tran, "robot_state_controller", false); for (const auto& tran : tf_static_transforms) tf_buffer_->setTransform(tran, "robot_state_controller", true); - if (publish_rate_ > 0.0 && last_publish_time_ + ros::Duration(1.0 / publish_rate_) < time) + if (publish_rate_ > 0.0 && last_publish_time_ + ros::Duration(1.0 / publish_rate_) <= time) { tf_broadcaster_.sendTransform(tf_transforms); if (use_tf_static_)