fix(ndt_scan_matcher): check first old_pose_msg for initialization

[meliketanrikulu]

melike tanrikulu [email protected]

Description

This PR related #2650 .

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Base: 11.38% // Head: 11.38% // Decreases project coverage by -0.00% ⚠️

Coverage data is based on head (a14cd78) compared to base (2eafda6).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2660      +/-   ##
==========================================
- Coverage   11.38%   11.38%   -0.01%     
==========================================
  Files        1277     1277              
  Lines       89230    89272      +42     
  Branches    23619    23619              
==========================================
  Hits        10160    10160              
- Misses      68297    68339      +42     
  Partials    10773    10773              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	11.38% <0.00%> (ø)		Carriedforward from 2eafda6

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
localization/ndt_scan_matcher/src/util_func.cpp	0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.16% <ø> (ø)
...anner/src/scene_module/pull_over/goal_searcher.cpp	0.00% <0.00%> (ø)

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report at Codecov.
📢 Do you have feedback about the report comment? Let us know in this issue.

[YamatoAndo]

@meliketanrikulu Thank you so much!
Looking at past code for this part, I see if (output_old_pose_cov_msg_ptr->header.stamp.toSec() == 0) {, and I certainly thought I had written that.
https://github.com/tier4/AutowareArchitectureProposal.iv/blob/v0.9.1/localization/pose_estimator/ndt_scan_matcher/ndt_scan_matcher/include/ndt_scan_matcher/util_func.h#L169

But apparently we made a mistake when we migrated from ROS1 to ROS2.
https://github.com/tier4/AutowareArchitectureProposal.iv/blob/v0.11.1/localization/pose_estimator/ndt_scan_matcher/ndt_scan_matcher/include/ndt_scan_matcher/util_func.hpp#L168

Since I was not involved in the migration process, I could not notice this mistake.
Thank you very much.

[YamatoAndo]

LGTM!