A [comment in the code](https://github.com/ros-planning/navigation/blob/jade-devel/amcl/src/amcl_node.cpp#L1249-L1278) says> // We want to send a transform that is good up until a
// tolerance time so that odom can be used
And the [wiki page](http://wiki.ros.org/amcl#Parameters) says
> ~transform_tolerance (double, default: 0.1 seconds)
Time with which to post-date the transform that is published, to indicate that this transform is valid into the future.
I still don't understand why AMCL needs to pretend to be able to see the future.
↧