From 913b70dc28685f2c6b108a8a284f9ddcc32bb484 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 27 Feb 2019 23:11:42 +0300 Subject: [PATCH] vpe_publisher: simplify --- clever/src/vpe_publisher.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/clever/src/vpe_publisher.cpp b/clever/src/vpe_publisher.cpp index 109b3f8e..31cbdccb 100644 --- a/clever/src/vpe_publisher.cpp +++ b/clever/src/vpe_publisher.cpp @@ -113,9 +113,9 @@ int main(int argc, char **argv) { tf2_ros::TransformListener tf_listener(tf_buffer); nh_priv.param("frame_id", frame_id, ""); - nh_priv.param("child_frame_id", child_frame_id, ""); - nh_priv.param("mavros/local_position/frame_id", local_frame_id, "map"); nh_priv.param("offset_frame_id", offset_frame_id, ""); + nh_priv.param("mavros/local_position/frame_id", local_frame_id, "map"); + nh_priv.param("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link"); offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 5.0)); if (!frame_id.empty()) {