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Fixed odom_sensor_sync inverted motion transform

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matlabbe
2024-04-28 15:59:42 -07:00
parent 0e62d6f91b
commit fd8b4f4650
7 changed files with 36 additions and 36 deletions
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rtabmap_odom/src/nodelets/icp_odometry.cpp
+1 -1
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@@ -360,7 +360,7 @@ private:
if(deskewing_ && (!guessFrameId().empty() || (frameId().compare(scanMsg->header.frame_id) != 0)))
{
// make sure the frame of the laser is updated during the whole scan time
rtabmap::Transform tmpT = rtabmap_conversions::getTransform(
rtabmap::Transform tmpT = rtabmap_conversions::getMovingTransform(
scanMsg->header.frame_id,
guessFrameId().empty()?frameId():guessFrameId(),
scanMsg->header.stamp,