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Nice job! Just a few minor things that need to be addressed.
With regards to testing the functionality of the node I'd like to see a few unit tests. There's a ros node testing framework that can be found here and making a few tests should be pretty simple. A good example of some unit tests are the differential drive unit tests which test the differential drive node.
// since it also publishes the same transform | ||
// publish transform for tf if there has not been a update from the | ||
// localization node in the last second since it also publishes the same | ||
// transform | ||
if (std::abs(msg->header.stamp.toSec() - g_last_estimate.toSec()) > 1.0) | ||
{ | ||
static tf::TransformBroadcaster br; |
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Maybe instead of having this as a static variable we could move this to the header file?
static tf::TransformBroadcaster br; | ||
static tf::TransformListener tf_listener; |
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Also probably a good idea to keep these in the header file. Would probably need to rename the broadcasters to differentiate them since they broadcast two different transforms.
Description
Takes the main.cpp file for the ground_truth node and splits it into a .cpp and header file for a ground truth republished node.
This PR does the following:
Fixes #739
Testing steps (If relevant)
Self Checklist
make format