Skip to content
Snippets Groups Projects
Commit 0ea20bac authored by Emil Harlan's avatar Emil Harlan
Browse files

a

parent 5cfec82d
No related branches found
No related tags found
No related merge requests found
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import PoseStamped, Pose
from tf2_ros import TransformListener, Buffer
from tf2_geometry_msgs import do_transform_pose
from builtin_interfaces.msg import Time
......@@ -19,7 +19,7 @@ class RobotPosePublisher(Node):
transform = self.tf_buffer_.lookup_transform('map', 'base_link', Time())
pose_stamped = PoseStamped()
pose_stamped.header = transform.header
pose_stamped.pose = transform.transform
pose_stamped.pose = transform.transform.translation
self.publisher_.publish(pose_stamped)
except Exception as e:
self.get_logger().error('Failed to lookup transform: %s' % str(e))
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment