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data_player: fixed wrong laser scan TF published (#276)

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matlabbe
2018-09-28 15:20:55 -04:00
parent 8d1664857b
commit cac47900cc
2 changed files with 8 additions and 5 deletions
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src/DbPlayerNode.cpp
+2 -3
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@@ -109,8 +109,7 @@ int main(int argc, char** argv)
pnh.param("start_id", startId, startId);
// based on URG-04LX
double scanHeight, scanAngleMin, scanAngleMax, scanAngleIncrement, scanTime, scanRangeMin, scanRangeMax;
pnh.param<double>("scan_height", scanHeight, 0.3);
double scanAngleMin, scanAngleMax, scanAngleIncrement, scanTime, scanRangeMin, scanRangeMax;
pnh.param<double>("scan_angle_min", scanAngleMin, -M_PI / 2.0);
pnh.param<double>("scan_angle_max", scanAngleMax, M_PI / 2.0);
pnh.param<double>("scan_angle_increment", scanAngleIncrement, M_PI / 360.0);
@@ -305,7 +304,7 @@ int main(int argc, char** argv)
baseToLaserScan.child_frame_id = scanFrameId;
baseToLaserScan.header.frame_id = frameId;
baseToLaserScan.header.stamp = time;
rtabmap_ros::transformToGeometryMsg(rtabmap::Transform(0,0,scanHeight,0,0,0), baseToLaserScan.transform);
rtabmap_ros::transformToGeometryMsg(odom.data().laserScanCompressed().localTransform(), baseToLaserScan.transform);
tfBroadcaster.sendTransform(baseToLaserScan);
}
}