i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 12:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed tf calc error

Browse Source
This commit is contained in:
Joe Dong
2023-09-06 21:34:52 +08:00
parent 5de0fc20e1
commit 70e6ac3cd6
1 changed files with 5 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+5 -3
View File
@@ -1013,9 +1013,11 @@ void OBCameraNode::calcAndPublishStaticTransform() {
Q = transform.getRotation();
trans = transform.getOrigin();
rclcpp::Time tf_timestamp = node_->now();
publishStaticTF(tf_timestamp, trans, Q, frame_id_[DEPTH], frame_id_[COLOR]);
publishStaticTF(tf_timestamp, trans, Q, camera_link_frame_id_, frame_id_[COLOR]);
if(enable_stream_[COLOR]) {
publishStaticTF(tf_timestamp, trans, Q, camera_link_frame_id_, frame_id_[COLOR]);
publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[COLOR],
optical_frame_id_[COLOR]);
}
for (const auto &stream_index : IMAGE_STREAMS) {
if (stream_index == COLOR || !enable_stream_[stream_index]) {
continue;