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fixed headers when publishing the TF transforms.

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It fixes a previous commit... -_-
This commit is contained in:
jgmonroy
2017-03-13 16:26:14 +01:00
parent d8dc993f9e
commit 543caed2e8
1 changed files with 4 additions and 2 deletions
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6
src/CLaserOdometry2D.cpp
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@@ -1019,10 +1019,11 @@ void CLaserOdometry2D::PoseUpdate()
//--------------------------------------- //---------------------------------------
if (publish_tf) if (publish_tf)
{ {
//ROS_INFO("[rf2o] Publishing TF: [base_link] to [odom]");
geometry_msgs::TransformStamped odom_trans; geometry_msgs::TransformStamped odom_trans;
odom_trans.header.stamp = ros::Time::now(); odom_trans.header.stamp = ros::Time::now();
odom_trans.header.frame_id = base_frame_id; odom_trans.header.frame_id = odom_frame_id;
odom_trans.child_frame_id = odom_frame_id; odom_trans.child_frame_id = base_frame_id;
odom_trans.transform.translation.x = robot_pose.x(); odom_trans.transform.translation.x = robot_pose.x();
odom_trans.transform.translation.y = robot_pose.y(); odom_trans.transform.translation.y = robot_pose.y();
odom_trans.transform.translation.z = 0.0; odom_trans.transform.translation.z = 0.0;
@@ -1033,6 +1034,7 @@ void CLaserOdometry2D::PoseUpdate()
//next, we'll publish the odometry message over ROS //next, we'll publish the odometry message over ROS
//------------------------------------------------- //-------------------------------------------------
//ROS_INFO("[rf2o] Publishing Odom Topic");
nav_msgs::Odometry odom; nav_msgs::Odometry odom;
odom.header.stamp = ros::Time::now(); odom.header.stamp = ros::Time::now();
odom.header.frame_id = odom_frame_id; odom.header.frame_id = odom_frame_id;