From 4bea3eb5c6c0d98366b5527d0426402e7c10be73 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Tue, 14 Jan 2025 09:35:16 +0100
Subject: [PATCH] update

---
 nodes/odom_publisher_python.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/nodes/odom_publisher_python.py b/nodes/odom_publisher_python.py
index 2d88f06..56f78ed 100644
--- a/nodes/odom_publisher_python.py
+++ b/nodes/odom_publisher_python.py
@@ -19,14 +19,18 @@ def odom_callback(msg):
         orientation.x, orientation.y, orientation.z, orientation.w
     )
 
+    # Get frame IDs from the message
+    parent_frame_id = msg.header.frame_id if msg.header.frame_id else "odom"
+    child_frame_id = msg.child_frame_id if msg.child_frame_id else "base_link"
+
     # Broadcast the transformation
     br = tf.TransformBroadcaster()
     br.sendTransform(
         (position.x, position.y, position.z),  # Translation
         (qx, qy, qz, qw),  # Normalized rotation (quaternion)
         rospy.Time.now(),  # Timestamp
-        msg.child_frame_id if msg.child_frame_id else "base_link",  # Child frame ID
-        msg.header.frame_id if msg.header.frame_id else "odom"  # Parent frame ID
+        child_frame_id,  # Child frame ID
+        parent_frame_id  # Parent frame ID
     )
 
 def main():