From 7c72d8f288b58f67844594bb751ef1f1dc709199 Mon Sep 17 00:00:00 2001
From: vik748 <vikrantshah@gmail.com>
Date: Wed, 2 Aug 2017 18:21:10 -0400
Subject: [PATCH] Reference Issue #592 Added warning to AMCL when map is
 published on ... (#604)

---
 amcl/src/amcl_node.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/amcl/src/amcl_node.cpp b/amcl/src/amcl_node.cpp
index 68a4717e02..cc58d8a767 100644
--- a/amcl/src/amcl_node.cpp
+++ b/amcl/src/amcl_node.cpp
@@ -802,6 +802,11 @@ AmclNode::handleMapMessage(const nav_msgs::OccupancyGrid& msg)
            msg.info.width,
            msg.info.height,
            msg.info.resolution);
+  
+  if(msg.header.frame_id != global_frame_id_)
+    ROS_WARN("Frame_id of map received:'%s' doesn't match global_frame_id:'%s;'. This could cause issues with reading published topics",
+             msg.header.frame_id.c_str(),
+             global_frame_id_.c_str());
 
   freeMapDependentMemory();
   // Clear queued laser objects because they hold pointers to the existing