From 4a250f5ab550b44afb02b8dd29e9be772f033184 Mon Sep 17 00:00:00 2001 From: TinyO Date: Fri, 9 Aug 2019 15:07:46 +0800 Subject: [PATCH] fix(*): rviz imu location. --- .../ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc index 2d93f59..c478921 100644 --- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc +++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc @@ -1491,9 +1491,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet { l2i_msg.header.stamp = tf_stamp; l2i_msg.header.frame_id = frame_ids_[Stream::LEFT]; l2i_msg.child_frame_id = imu_frame_id_; - l2i_msg.transform.translation.x = l2i_ex.translation[0]; - l2i_msg.transform.translation.y = l2i_ex.translation[1]; - l2i_msg.transform.translation.z = l2i_ex.translation[2]; + l2i_msg.transform.translation.x = 0; + l2i_msg.transform.translation.y = 0; + l2i_msg.transform.translation.z = 0; if (l2i_ex.rotation[0][0] == 0 && l2i_ex.rotation[2][2] == 0) { l2i_msg.transform.rotation.x = 0; l2i_msg.transform.rotation.y = 0;