Fix/laneblocker

[enfff]

Bug fix

Fixed bug

• The node laserscan_detector kept generating such messages:
  Message Filter dropping message: frame '' at time 0.000 for reason 'the frame id of the message is empty

• The node lane_blocker_node was not publishing the lane closure requests correctly

Fix applied

• I filled the message header.frame_id with _latest_scan->header.frame_id as suggested by @Yadunund in issue #9
• I rewrote the logic for associating obstacles to the lanes

Furthermore, I changed the obstacle transform time to rclcpp::Time(obstacle.header.stamp) as that's the most accurate timestamp, instead of tf2::TimePointZero which is the last available

GenAI Use

We follow OSRA's policy on GenAI tools

• I used a GenAI tool in this PR.
• I did not use GenAI

I used Copilot v1.35.0 and Claude Sonnet 4 to generate the parameter table in the README

[enfff]

First time contributing to RMF. Should I do what is suggested here, or keep it in mind for the next time?

[Yadunund]

@enfff could you ensure DCO passes?

[enfff]

Absolutely, I'll do it asap

[Yadunund]

Nit: Undo unnecessary formatting change.

[enfff]

The last thing I did after writing the code was formatting the text as specified in
Code Style and C++ conventions, in fact that line is long 84 characters (counting spaces). Do you still prefer it the way it was written before?

[enfff]

Hello, any update on this?

[mxgrey]

Thanks for the contribution and sorry for how long it took to follow up. This repo is on the fringe of where we usually focus our effort, so it went overlooked. From now on PRs opened for this repo will be automatically added to the project board.

out of date