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MapCloudDisplay: fixed default channel for scans. imu_to_tf: fixed wrong stabilized orientation with non null roll/pitch

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This commit is contained in:
matlabbe
2019-05-02 19:42:15 -04:00
parent b670186610
commit 2eb8ba1be1
2 changed files with 11 additions and 4 deletions
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src/nodelets/imu_to_tf.cpp
+2 -3
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@@ -85,9 +85,8 @@ private:
}
tf::StampedTransform tmp;
tfListener_.lookupTransform(baseFrameId_, msg->header.frame_id, msg->header.stamp, tmp);
tmp *= st;
st.setRotation(tmp.getRotation());
tfListener_.lookupTransform(msg->header.frame_id, baseFrameId_, msg->header.stamp, tmp);
st *= tmp;
st.child_frame_id_ = baseFrameId_;
}
catch(tf::TransformException & ex)