ellensohn/cps_rmp220_support
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Your Name 2025-01-14 09:35:16 +01:00
parent 5dd8b2c27b
commit 4bea3eb5c6
1 changed files with 6 additions and 2 deletions
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8
nodes/odom_publisher_python.py
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@ -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():