From 6883fd3eb26f361c38f6f81ef5e61ae52558e424 Mon Sep 17 00:00:00 2001 From: jorgenfj Date: Sat, 20 Apr 2024 12:57:57 +0200 Subject: [PATCH] fixed lidar and zed tf --- asv_setup/launch/tf.launch.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/asv_setup/launch/tf.launch.py b/asv_setup/launch/tf.launch.py index 476e5fbc..72795217 100644 --- a/asv_setup/launch/tf.launch.py +++ b/asv_setup/launch/tf.launch.py @@ -15,15 +15,15 @@ def generate_launch_description(): '--z' , '-0.392425', '--roll' , str(math.pi), '--pitch' , '0', - '--yaw' , '0', + '--yaw' , str(math.pi), '--frame-id' , 'base_link', - '--child-frame-id' , 'os_lidar'], + '--child-frame-id' , 'os_sensor'], ) - # base_link to zed2i_camera_center tf. - tf_base_link_to_zed2_camera_center = Node( + # base_link to zed_camera_link tf. + tf_base_link_to_zed_camera_link = Node( package='tf2_ros', - name='base_link_to_zed2_camera_center', + name='base_link_to_zed_camera_link', executable='static_transform_publisher', arguments=['--x' , '0.3005', '--y' , '0', @@ -32,7 +32,7 @@ def generate_launch_description(): '--pitch' , '0', '--yaw' , '0', '--frame-id' , 'base_link', - '--child-frame-id' , 'zed2i_camera_center'], + '--child-frame-id' , 'zed_camera_link'], ) # base_link (NED) to seapath_frame (NED) tf. @@ -52,6 +52,6 @@ def generate_launch_description(): return LaunchDescription([ tf_base_link_to_lidar, - tf_base_link_to_zed2_camera_center, + tf_base_link_to_zed_camera_link, tf_base_link_to_seapath, ])