Feature request
As discussed in #6034, we currently lack a mechanism to explicitally detect and report stale transformations.
The system is not guaranteed to stop and fail if, for example, the transformation from odom to the robot is not updated for a long period.
Feature description
It should be possible to configure the system to detect specific stale transformations and react to them (stopping).
Implementation considerations
For the specific case of the odom to robot transformation, a check in the controller server could be reasonable, but we might want to wait for #6316 before making an implementation decision.
Feature request
As discussed in #6034, we currently lack a mechanism to explicitally detect and report stale transformations.
The system is not guaranteed to stop and fail if, for example, the transformation from odom to the robot is not updated for a long period.
Feature description
It should be possible to configure the system to detect specific stale transformations and react to them (stopping).
Implementation considerations
For the specific case of the odom to robot transformation, a check in the controller server could be reasonable, but we might want to wait for #6316 before making an implementation decision.