From 3f0990173f4b46c083d72a0529906fe17c38efe1 Mon Sep 17 00:00:00 2001 From: Arthur Golubtsov Date: Thu, 21 May 2020 02:58:29 +0300 Subject: [PATCH] Drone: Add gps frame broadcast --- Drone/copter_client.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/Drone/copter_client.py b/Drone/copter_client.py index 4b56886..d61314d 100644 --- a/Drone/copter_client.py +++ b/Drone/copter_client.py @@ -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()