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Drone: Add gps frame broadcast

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This commit is contained in:
Arthur Golubtsov
2020-05-21 02:58:29 +03:00
parent 7311e5b59a
commit 3f0990173f
1 changed files with 8 additions and 0 deletions
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8
Drone/copter_client.py
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@@ -131,6 +131,14 @@ class CopterClient(client.Client):
static_bloadcaster.sendTransform(trans)
def start_gps_frame_broadcast(self):
trans = TransformStamped()
trans.transform.translation.x = 0
trans.transform.translation.y = 0
trans.transform.translation.z = 0
trans.transform.rotation = Quaternion(*quaternion_from_euler(0,0,0))
trans.header.frame_id = "map"
trans.child_frame_id = self.config.copter_frame_id
static_bloadcaster.sendTransform(trans)
gps_frame_thread = threading.Thread(target=self.gps_frame_broadcast_loop, name="GPS frame broadcast thread")
gps_frame_thread.start()