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fixed TF error

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This commit is contained in:
Joe Dong
2023-09-08 14:22:11 +08:00
parent 5cbfe23d77
commit 46b6b38b36
1 changed files with 22 additions and 14 deletions
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orbbec_camera/src/ob_camera_node.cpp
+22 -14
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@@ -1,18 +1,18 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#include "orbbec_camera/ob_camera_node.h"
#include <rclcpp/rclcpp.hpp>
@@ -1106,6 +1106,14 @@ void OBCameraNode::calcAndPublishStaticTransform() {
publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
optical_frame_id_[stream_index]);
}
for (const auto &stream_index : HID_STREAMS) {
if (enable_stream_[stream_index]) {
publishStaticTF(tf_timestamp, zero_trans, zero_rot, camera_link_frame_id_,
frame_id_[stream_index]);
publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
optical_frame_id_[stream_index]);
}
}
}
void OBCameraNode::publishStaticTransforms() {