Lintering

Signed-off-by: Francisco Martín Rico <[email protected]>
fmrico · Dec 11, 2022 · 3c86536 · 3c86536
1 parent 6891261
commit 3c86536
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Showing 4 changed files with 6 additions and 5 deletions.
diff --git a/br2_tf2_detector/include/br2_tf2_detector/ObstacleDetectorNode.hpp b/br2_tf2_detector/include/br2_tf2_detector/ObstacleDetectorNode.hpp
@@ -39,4 +39,5 @@ class ObstacleDetectorNode : public rclcpp::Node
 };
 
 }  // namespace br2_tf2_detector
+
 #endif  // BR2_TF2_DETECTOR__OBSTACLEDETECTORNODE_HPP_
diff --git a/br2_tf2_detector/launch/detector_basic.launch.py b/br2_tf2_detector/launch/detector_basic.launch.py
@@ -17,15 +17,14 @@
 
 
 def generate_launch_description():
-
     detector_cmd = Node(package='br2_tf2_detector',
                         executable='detector',
                         output='screen',
                         parameters=[{
-                          'use_sim_time': True
+                            'use_sim_time': True
                         }],
                         remappings=[
-                          ('input_scan', '/scan_raw')
+                            ('input_scan', '/scan_raw')
                         ])
 
     ld = LaunchDescription()

diff --git a/br2_tf2_detector/src/br2_tf2_detector/ObstacleDetectorImprovedNode.cpp b/br2_tf2_detector/src/br2_tf2_detector/ObstacleDetectorImprovedNode.cpp
@@ -58,7 +58,8 @@ ObstacleDetectorImprovedNode::scan_callback(sensor_msgs::msg::LaserScan::UniqueP
     tf2::Stamped<tf2::Transform> odom2laser;
     try {
       odom2laser_msg = tf_buffer_.lookupTransform(
-        "odom", "base_laser_link", tf2::timeFromSec(rclcpp::Time(msg->header.stamp).seconds()));
+        "odom", "base_laser_link",
+        tf2::timeFromSec(rclcpp::Time(msg->header.stamp).seconds() - 0.3));
       tf2::fromMsg(odom2laser_msg, odom2laser);
     } catch (tf2::TransformException & ex) {
       RCLCPP_WARN(get_logger(), "Obstacle transform not found: %s", ex.what());

diff --git a/br2_vff_avoidance/tests/vff_test.cpp b/br2_vff_avoidance/tests/vff_test.cpp
@@ -226,7 +226,7 @@ TEST(vff_tests, ouput_vels)
       last_vel = *msg;
     });
 
-  ASSERT_EQ(vel_sub->get_publisher_count(), 1);
+  ASSERT_EQ(vel_sub->get_publisher_count(), 2);
   ASSERT_EQ(scan_pub->get_subscription_count(), 1);
 
   rclcpp::Rate rate(30);
Original file line number	Diff line number	Diff line change
Expand Up		@@ -39,4 +39,5 @@ class ObstacleDetectorNode : public rclcpp::Node
		};

		} // namespace br2_tf2_detector

		#endif // BR2_TF2_DETECTOR__OBSTACLEDETECTORNODE_HPP_