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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_slam/src/CoreWrapper.cpp
+2 -2
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@@ -1941,11 +1941,11 @@ void CoreWrapper::process(
globalPose *= sensorToBase; // transform global pose from sensor frame to robot base frame
// Correction of the global pose accounting the odometry movement since we received it
Transform correction = rtabmap_conversions::getTransform(
Transform correction = rtabmap_conversions::getMovingTransform(
frameId_,
odomFrameId,
globalPose_.header.stamp,
lastPoseStamp_,
globalPose_.header.stamp,
tfListener_,
waitForTransform_?waitForTransformDuration_:0.0);
if(!correction.isNull())