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Update encoder_odom_publisher.py disabled tf publish

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bjoernellens1 2025-01-16 11:23:05 +01:00 committed by GitHub
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commit 82333049df
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1 changed files with 9 additions and 9 deletions
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18
nodes/encoder_odom_publisher.py
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@ -102,15 +102,15 @@ class EncoderOdometry:
rospy.logdebug("Publishing Odometry message.")
self.odom_pub.publish(odom)
# Publish TF transform
rospy.logdebug("Publishing TF transform.")
self.odom_broadcaster.sendTransform(
(self.x, self.y, 0),
q,
rospy.Time.from_sec(current_time),
"base_link",
"odom"
)
# # Publish TF transform
# rospy.logdebug("Publishing TF transform.")
# self.odom_broadcaster.sendTransform(
# (self.x, self.y, 0),
# q,
# rospy.Time.from_sec(current_time),
# "base_link",
# "odom"
# )
# Update previous values
self.last_l_ticks = msg.l_ticks