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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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nodes/encoder_odom_publisher.py
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@ -102,15 +102,15 @@ class EncoderOdometry:
rospy.logdebug("Publishing Odometry message.") rospy.logdebug("Publishing Odometry message.")
self.odom_pub.publish(odom) self.odom_pub.publish(odom)
# Publish TF transform # # Publish TF transform
rospy.logdebug("Publishing TF transform.") # rospy.logdebug("Publishing TF transform.")
self.odom_broadcaster.sendTransform( # self.odom_broadcaster.sendTransform(
(self.x, self.y, 0), # (self.x, self.y, 0),
q, # q,
rospy.Time.from_sec(current_time), # rospy.Time.from_sec(current_time),
"base_link", # "base_link",
"odom" # "odom"
) # )
# Update previous values # Update previous values
self.last_l_ticks = msg.l_ticks self.last_l_ticks = msg.l_ticks