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Plan: ignore rotation if not set in request (#406), use /map frame as default if not set in request

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matlabbe
2020-06-02 11:13:02 -04:00
parent 250a56f741
commit 2fcb289894
3 changed files with 20 additions and 20 deletions
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src/MsgConversion.cpp
+6 -2
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@@ -113,13 +113,17 @@ void transformToPoseMsg(const rtabmap::Transform & transform, geometry_msgs::Pos
}
}
rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg)
rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg, bool ignoreRotationIfNotSet)
{
if(msg.orientation.w == 0 &&
msg.orientation.x == 0 &&
msg.orientation.y == 0 &&
msg.orientation.z ==0)
msg.orientation.z == 0)
{
if(ignoreRotationIfNotSet)
{
return rtabmap::Transform(msg.position.x, msg.position.y, msg.position.z, 0, 0, 0);
}
return rtabmap::Transform();
}
Eigen::Affine3d tfPose;