Magnezijum-Robotics/magrob
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Switched static transform with normal transform

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Pimpest
2025-02-22 16:46:45 +01:00
parent c9abf3436b
commit 5887151387
1 changed files with 6 additions and 6 deletions
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12
mg_odometry/src/mg_odom_publisher.cpp
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@ -5,7 +5,7 @@
#include <libserial/SerialStream.h> #include <libserial/SerialStream.h>
#include "geometry_msgs/msg/transform_stamped.hpp" #include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2_ros/static_transform_broadcaster.h" #include "tf2_ros/transform_broadcaster.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "tf2/LinearMath/Transform.hpp" #include "tf2/LinearMath/Transform.hpp"
@ -25,16 +25,16 @@ class MgOdomPublisher : public rclcpp::Node {
this->declare_parameter("target", "base-link"); this->declare_parameter("target", "base-link");
this->declare_parameter("serial_path", ENCODER_SERIAL_PATH_DEFAULT); this->declare_parameter("serial_path", ENCODER_SERIAL_PATH_DEFAULT);
tf_static_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this); tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
timer_ = this->create_wall_timer(std::chrono::milliseconds(TIMEOUT), timer_ = this->create_wall_timer(std::chrono::milliseconds(TIMEOUT),
std::bind(&MgOdomPublisher::timer_callback, this)); std::bind(&MgOdomPublisher::timer_callback, this));
} }
private: private:
std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tf_static_broadcaster_; std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
rclcpp::TimerBase::SharedPtr timer_; rclcpp::TimerBase::SharedPtr timer_;
LibSerial::SerialStream enc_serial_port_; LibSerial::SerialStream enc_serial_port_;
void timer_callback() { void timer_callback() {
double _x = NAN; double _x = NAN;
@ -73,7 +73,7 @@ class MgOdomPublisher : public rclcpp::Node {
const tf2::Transform tf(tf2::Transform(q, tf2::Vector3(x, y, 0))); const tf2::Transform tf(tf2::Transform(q, tf2::Vector3(x, y, 0)));
tf2::convert(tf, t.transform); tf2::convert(tf, t.transform);
tf_static_broadcaster_->sendTransform(t); tf_broadcaster_->sendTransform(t);
} }
}; };