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Merge pull request #2 from dronecrew/tf

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TF fixes.
This commit is contained in:
Javier G. Monroy
2017-02-27 09:21:15 +01:00
committed by GitHub
parent d10fe943b7 2c715fd7a8
commit b1f2418c87
2 changed files with 6 additions and 6 deletions
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4
CMakeLists.txt
View File

@@ -16,7 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
## System dependencies are found with CMake's conventions ## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system) find_package(Boost REQUIRED COMPONENTS system)
find_package(cmake_modules REQUIRED) find_package(cmake_modules REQUIRED)
find_package(Eigen REQUIRED) find_package(Eigen3 REQUIRED)
find_package(MRPT REQUIRED base obs maps slam) find_package(MRPT REQUIRED base obs maps slam)
#include_directories(${MRPT_INCLUDE_DIRS}) #include_directories(${MRPT_INCLUDE_DIRS})
#MESSAGE( STATUS "MRPT_INCLUDE_DIRS: " ${MRPT_INCLUDE_DIRS}) #MESSAGE( STATUS "MRPT_INCLUDE_DIRS: " ${MRPT_INCLUDE_DIRS})
@@ -38,7 +38,7 @@ catkin_package(
INCLUDE_DIRS include INCLUDE_DIRS include
LIBRARIES laser_odometry LIBRARIES laser_odometry
CATKIN_DEPENDS nav_msgs roscpp sensor_msgs std_msgs tf CATKIN_DEPENDS nav_msgs roscpp sensor_msgs std_msgs tf
DEPENDS system_lib #DEPENDS system_lib
) )
## Specify additional locations of header files ## Specify additional locations of header files

8
src/CLaserOdometry2D.cpp
View File

@@ -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;