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fix(ros): tf_static value of mynteye_right_frame changed to be in meters

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kalman 2019-01-07 14:33:51 +08:00
parent 675f5ff97f
commit e46f24b0bb
1 changed files with 3 additions and 3 deletions
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wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -1085,9 +1085,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
l2r_msg.header.stamp = tf_stamp; l2r_msg.header.stamp = tf_stamp;
l2r_msg.header.frame_id = frame_ids_[Stream::LEFT]; l2r_msg.header.frame_id = frame_ids_[Stream::LEFT];
l2r_msg.child_frame_id = frame_ids_[Stream::RIGHT]; l2r_msg.child_frame_id = frame_ids_[Stream::RIGHT];
l2r_msg.transform.translation.x = l2r_ex.translation[0]; l2r_msg.transform.translation.x = l2r_ex.translation[0] / 1000;
l2r_msg.transform.translation.y = l2r_ex.translation[1]; l2r_msg.transform.translation.y = l2r_ex.translation[1] / 1000;
l2r_msg.transform.translation.z = l2r_ex.translation[2]; l2r_msg.transform.translation.z = l2r_ex.translation[2] / 1000;
l2r_msg.transform.rotation.x = l2r_q.getX(); l2r_msg.transform.rotation.x = l2r_q.getX();
l2r_msg.transform.rotation.y = l2r_q.getY(); l2r_msg.transform.rotation.y = l2r_q.getY();
l2r_msg.transform.rotation.z = l2r_q.getZ(); l2r_msg.transform.rotation.z = l2r_q.getZ();