CoreWrapper: setting imu local transform

2026-10-06 01:37:46 +08:00 · 2020-04-10 19:27:58 -04:00
parent b3d53e0833
commit ed8f2693f5
3 changed files with 42 additions and 22 deletions
@@ -325,6 +325,7 @@ private:
 	std::map<int, geometry_msgs::PoseWithCovarianceStamped> tags_;
 	ros::Subscriber imuSub_;
 	std::map<double, rtabmap::Transform> imus_;
+	std::string imuFrameId_;

 	ros::Subscriber interOdomSub_;
 	std::list<std::pair<nav_msgs::Odometry, rtabmap_ros::OdomInfo> > interOdoms_;