message: Odom: on odom auto reset (Odom/ResetCountdown), if guess_frame_id is set, reset pose accordingly to guess frame since it got lost.
diff: @@ -847,6 +847,15 @@ void OdometryROS::processData(SensorData & data, const std_msgs::Header & header
  --resetCurrentCount_;
  if(resetCurrentCount_ == 0)
  + {
  + if(!guess_.isNull())
  + {
  + NODELET_WARN( "Odometry automatically reset based on latest guess available from TF (%s->%s, moved %s since got lost)!",
  + guessFrameId_.c_str(), frameId_.c_str(), guess_.prettyPrint().c_str());
  + odometry_->reset(odometry_->getPose() * guess_);
  + guess_.setNull();
  + }
  + else
  {
  // Check TF to see if sensor fusion is used (e.g., the output of robot_localization)
  Transform tfPose = this->getTransform(odomFrameId_, frameId_, header.stamp);
  @@ -859,9 +868,9 @@ void OdometryROS::processData(SensorData & data, const std_msgs::Header & header
  {
  NODELET_WARN( "Odometry automatically reset to latest odometry pose available from TF (%s->%s)!",
  odomFrameId_.c_str(), frameId_.c_str());
  - odometry_->reset(tfPose);
  + odometry_->reset(odometry_->getPose());
  + }
  }
  -
  }
  }
  