Merge pull request #44 from logivations/fix-tf-when-global-plan-not-updated

Fix TF when global plan is not updated

Author: Tony Najjar

teb_local_planner/src/teb_local_planner_ros.cpp

@@ -721,9 +721,8 @@ bool TebLocalPlannerROS::transformGlobalPlan(const std::vector<geometry_msgs::ms
 
     // get plan_to_global_transform from plan frame to global_frame
     geometry_msgs::msg::TransformStamped plan_to_global_transform = tf_->lookupTransform(
-                global_frame, tf2_ros::fromMsg(plan_pose.header.stamp),
-                plan_pose.header.frame_id, tf2::timeFromSec(0),
-                plan_pose.header.frame_id, tf2::durationFromSec(0.5));
+                global_frame, plan_pose.header.frame_id, 
+                tf2::timeFromSec(0), tf2::durationFromSec(0.5));
 
 //    tf_->waitForTransform(global_frame, ros::Time::now(),
 //    plan_pose.header.frame_id, plan_pose.header.stamp,