From 2059b6ce8b0229f019b09726bd1160cfe62b941e Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 14 Nov 2023 17:40:24 -0800
Subject: [PATCH] accept tf_timeout < 0 to ignore timeout

---
 mbf_utility/src/navigation_utility.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mbf_utility/src/navigation_utility.cpp b/mbf_utility/src/navigation_utility.cpp
index 1c0ded3a..f7acd3f7 100644
--- a/mbf_utility/src/navigation_utility.cpp
+++ b/mbf_utility/src/navigation_utility.cpp
@@ -67,7 +67,7 @@ bool getRobotPose(const TF &tf,
                                timeout,
                                local_pose,
                                robot_pose);
-  if (success && ros::Time::now() - robot_pose.header.stamp > timeout)
+  if (success && timeout.toSec() > 0 && ros::Time::now() - robot_pose.header.stamp > timeout)
   {
     ROS_WARN("Most recent robot pose is %gs old (tolerance %gs)",
              (ros::Time::now() - robot_pose.header.stamp).toSec(), timeout.toSec());