From 4232c18ee8d019126bcc18a9aed4d0ba986900a6 Mon Sep 17 00:00:00 2001
From: Emil Harlan <eharlan@uni-bremen.de>
Date: Fri, 2 Jun 2023 10:10:04 +0200
Subject: [PATCH] a
---
robomaster_pi/pup_position.py | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/robomaster_pi/pup_position.py b/robomaster_pi/pup_position.py
index 0b17782..5684fa9 100644
--- a/robomaster_pi/pup_position.py
+++ b/robomaster_pi/pup_position.py
@@ -1,6 +1,6 @@
import rclpy
from rclpy.node import Node
-from geometry_msgs.msg import PoseStamped, Pose
+from geometry_msgs.msg import PoseStamped, Point, Quaternion
from tf2_ros import TransformListener, Buffer
from rclpy.time import Time
@@ -18,7 +18,9 @@ class RobotPosePublisher(Node):
transform = self.tf_buffer_.lookup_transform('map', 'base_link', Time())
pose_stamped = PoseStamped()
pose_stamped.header = transform.header
- pose_stamped.pose.position = transform.transform.translation
+ pose_stamped.pose.position = Point(x=transform.transform.translation.x,
+ y=transform.transform.translation.y,
+ z=transform.transform.translation.z)
pose_stamped.pose.orientation = transform.transform.rotation
self.publisher_.publish(pose_stamped)
except Exception as e:
--
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