Reference Issue #592 Added warning to AMCL when map is published on .…

….. (#604)
ros-planning · Aug 2, 2017 · d2fd4f3 · d2fd4f3
1 parent bbe39f0
commit d2fd4f3
Showing 1 changed file with 5 additions and 0 deletions.
diff --git 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