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fixed tf

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This commit is contained in:
Joe Dong
2023-07-13 18:17:01 +08:00
parent 28c1abed7d
commit 1b887340c3
2 changed files with 17 additions and 18 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
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@@ -338,6 +338,7 @@ class OBCameraNode {
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
bool publish_tf_ = false;
bool tf_published_ = false;
std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_tf_broadcaster_ = nullptr;
std::shared_ptr<tf2_ros::TransformBroadcaster> dynamic_tf_broadcaster_ = nullptr;
std::vector<geometry_msgs::msg::TransformStamped> tf_msgs;