struct mola::BridgeROS2::CachedLocalizationTf

Overview

Latest computed localization /tf (frame_ids + transform) plus the metadata needed to re-stamp it correctly on each broadcast. useRep105 selects the stamping policy: REP-105 mode uses rosNode->now() + transform_tolerance (Nav2-style, future-dated, safe to rebroadcast because odom -> base_link carries real motion); direct mode uses myNow(scan_timestamp) (stamped at scan time, honoring publish_in_sim_time). Empty until the first localization update arrives.

struct CachedLocalizationTf
{
    // fields

    geometry_msgs::msg::TransformStamped tf;
    bool useRep105 = false;
    mrpt::Clock::time_point scan_timestamp;
};