From fe558b6af77819c273ddfd262a8a62b89ee3d3e4 Mon Sep 17 00:00:00 2001 From: jorgenfj <144696109+jorgenfj@users.noreply.github.com> Date: Sat, 20 Apr 2024 18:30:00 +0200 Subject: [PATCH] Inverse tf (#180) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * flipped tf. renamed seapath * fixed lidar and zed tf --------- Co-authored-by: Eirik Kolås --- asv_setup/launch/tf.launch.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/asv_setup/launch/tf.launch.py b/asv_setup/launch/tf.launch.py index 4ad46491..72795217 100644 --- a/asv_setup/launch/tf.launch.py +++ b/asv_setup/launch/tf.launch.py @@ -20,10 +20,10 @@ def generate_launch_description(): '--child-frame-id' , 'os_sensor'], ) - # base_link to zed2i_camera_center tf. - tf_base_link_to_zed2_camera_center = Node( + # base_link to zed_camera_link tf. + tf_base_link_to_zed_camera_link = Node( package='tf2_ros', - name='base_link_to_zed2_camera_center', + name='base_link_to_zed_camera_link', executable='static_transform_publisher', arguments=['--x' , '0.3005', '--y' , '0', @@ -32,7 +32,7 @@ def generate_launch_description(): '--pitch' , '0', '--yaw' , '0', '--frame-id' , 'base_link', - '--child-frame-id' , 'zed2i_camera_center'], + '--child-frame-id' , 'zed_camera_link'], ) # base_link (NED) to seapath_frame (NED) tf. @@ -52,6 +52,6 @@ def generate_launch_description(): return LaunchDescription([ tf_base_link_to_lidar, - tf_base_link_to_zed2_camera_center, + tf_base_link_to_zed_camera_link, tf_base_link_to_seapath, ])