From 313ee632ff0c624692d67dae87ef1d36a00c07af Mon Sep 17 00:00:00 2001
From: Emil Harlan <eharlan@uni-bremen.de>
Date: Fri, 2 Jun 2023 10:08:12 +0200
Subject: [PATCH] a
---
robomaster_pi/pup_position.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/robomaster_pi/pup_position.py b/robomaster_pi/pup_position.py
index bfa0036..0b17782 100644
--- a/robomaster_pi/pup_position.py
+++ b/robomaster_pi/pup_position.py
@@ -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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