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TF fixes.

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This commit is contained in:
James Goppert
2017-02-25 14:56:50 -05:00
parent d10fe943b7
commit 73e3a35465
1 changed files with 4 additions and 4 deletions
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8
src/CLaserOdometry2D.cpp
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@@ -80,7 +80,7 @@ void CLaserOdometry2D::Init()
tf::StampedTransform transform; tf::StampedTransform transform;
try try
{ {
tf_listener.lookupTransform("/base_link", last_scan.header.frame_id, ros::Time(0), transform); tf_listener.lookupTransform(base_frame_id, last_scan.header.frame_id, ros::Time(0), transform);
} }
catch (tf::TransformException &ex) catch (tf::TransformException &ex)
{ {
@@ -918,7 +918,7 @@ void CLaserOdometry2D::PoseUpdate()
tf::StampedTransform transform; tf::StampedTransform transform;
try try
{ {
tf_listener.lookupTransform(last_scan.header.frame_id, "/base_link", ros::Time(0), transform); tf_listener.lookupTransform(last_scan.header.frame_id, base_frame_id, ros::Time(0), transform);
} }
catch (tf::TransformException &ex) catch (tf::TransformException &ex)
{ {
@@ -978,8 +978,8 @@ void CLaserOdometry2D::PoseUpdate()
//--------------------------------------- //---------------------------------------
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 = odom_frame_id; odom_trans.header.frame_id = base_frame_id;
odom_trans.child_frame_id = base_frame_id; odom_trans.child_frame_id = odom_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;