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Fix ground truth Tf changing parent frame #81

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merged 1 commit into from
May 3, 2022
Merged

Fix ground truth Tf changing parent frame #81

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7 changes: 6 additions & 1 deletion flatland_plugins/src/diff_drive.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,8 @@ void DiffDrive::OnInitialize(const YAML::Node& config) {
enable_twist_pub_ = reader.Get<bool>("enable_twist_pub", true);
std::string body_name = reader.Get<std::string>("body");
std::string odom_frame_id = reader.Get<std::string>("odom_frame_id", "odom");
std::string ground_truth_frame_id =
reader.Get<std::string>("ground_truth_frame_id", odom_frame_id);

std::string twist_topic = reader.Get<std::string>("twist_sub", "cmd_vel");
std::string odom_topic =
Expand Down Expand Up @@ -127,12 +129,15 @@ void DiffDrive::OnInitialize(const YAML::Node& config) {
}

// init the values for the messages
ground_truth_msg_.header.frame_id = odom_frame_id;
ground_truth_msg_.header.frame_id = ground_truth_frame_id;
ground_truth_msg_.child_frame_id =
tf::resolve("", GetModel()->NameSpaceTF(body_->name_));
ground_truth_msg_.twist.covariance.fill(0);
ground_truth_msg_.pose.covariance.fill(0);
// Odometry message initially is similar to ground truth except for the
// parent frame ID
odom_msg_ = ground_truth_msg_;
odom_msg_.header.frame_id = odom_frame_id;

// copy from std::array to boost array
for (unsigned int i = 0; i < 36; i++) {
Expand Down