AMCL doesn't throw error when it receives maps on the correct topic but not matching the global_frame_id

[vik748]

Currently,
AMCL seems to proceed as if every thing is good if it receives maps on the specified map_topic even if the frame_id on the map doesn't match global_frame_id. In this case AMCL essentially is unable to scan map to the map being published and thus the error on the particles keep growing. A simple fix should be able to warn users that the map being published is not being used by AMCL because of the mismatch.

Cheers,
Vik

[mikeferguson]

Seems reasonable -- pull request for proposed simple fix would be accepted.

[vik748]

@mikeferguson I am very new to github. What is the best way for me to submit the changes? Do I created a new forked repo and then submit that or do I create a new branch in this repo and request that to be merged?

Thanks,
Vik

[mikeferguson]

@vik748 new forked repo (you won't have permissions to create branches on this particular repo). Ideally a feature branch within your repo (so you can easily pull in updates to your fork). Then open a PR against this repo. Thanks!

[vik748]

Pull request #604 submitted.

[mikeferguson]

Fixed in kinetic & lunar