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Commit 313ee632 authored by Emil Harlan's avatar Emil Harlan
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parent 8f3c4e8a
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......@@ -2,7 +2,6 @@ import rclpy
from rclpy.node import Node
from geometry_msgs.msg import PoseStamped, Pose
from tf2_ros import TransformListener, Buffer
from tf2_geometry_msgs import do_transform_pose
from rclpy.time import Time
......@@ -19,7 +18,8 @@ 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.translation
pose_stamped.pose.position = transform.transform.translation
pose_stamped.pose.orientation = transform.transform.rotation
self.publisher_.publish(pose_stamped)
except Exception as e:
self.get_logger().error('Failed to lookup transform: %s' % str(e))
......
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