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Commit 4232c18e authored by Emil Harlan's avatar Emil Harlan
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import rclpy import rclpy
from rclpy.node import Node 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 tf2_ros import TransformListener, Buffer
from rclpy.time import Time from rclpy.time import Time
...@@ -18,7 +18,9 @@ class RobotPosePublisher(Node): ...@@ -18,7 +18,9 @@ class RobotPosePublisher(Node):
transform = self.tf_buffer_.lookup_transform('map', 'base_link', Time()) transform = self.tf_buffer_.lookup_transform('map', 'base_link', Time())
pose_stamped = PoseStamped() pose_stamped = PoseStamped()
pose_stamped.header = transform.header 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 pose_stamped.pose.orientation = transform.transform.rotation
self.publisher_.publish(pose_stamped) self.publisher_.publish(pose_stamped)
except Exception as e: except Exception as e:
......
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