From 96657a99e1f1aff9b8d54bb6ad49b35cb1aa5d41 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 Dec 2017 01:16:30 +0300 Subject: [PATCH] aruco_map -> aruco_map_vision; vpe_origin -> aruco_map --- clever/src/aruco_vpe.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/clever/src/aruco_vpe.py b/clever/src/aruco_vpe.py index 198bb846..a5e589e1 100755 --- a/clever/src/aruco_vpe.py +++ b/clever/src/aruco_vpe.py @@ -55,20 +55,20 @@ def publish_vpe(pose): aruco_map_in_reference = lookup_transform('aruco_map_reference', 'aruco_map_raw') aruco_map_in_reference.header.frame_id = 'aruco_map_reference_horiz' - send_transform(aruco_map_in_reference, 'aruco_map') + send_transform(aruco_map_in_reference, 'aruco_map_vision') # Reset VPE if last_published is None or stamp - last_published > rospy.Duration(2): rospy.loginfo('Reset VPE') - aruco_map_in_local_origin = lookup_transform('local_origin', 'aruco_map') - aruco_map_in_local_origin.child_frame_id = 'vpe_origin' + aruco_map_in_local_origin = lookup_transform('local_origin', 'aruco_map_vision') + aruco_map_in_local_origin.child_frame_id = 'aruco_map' static_tf_broadcaster.sendTransform(aruco_map_in_local_origin) # Calculate VPE ps.header.frame_id = 'fcu_horiz' ps.header.stamp = stamp - vpe_raw = tf_buffer.transform(ps, 'aruco_map', LOOKUP_TIMEOUT) - vpe_raw.header.frame_id = 'vpe_origin' + vpe_raw = tf_buffer.transform(ps, 'aruco_map_vision', LOOKUP_TIMEOUT) + vpe_raw.header.frame_id = 'aruco_map' vpe = tf_buffer.transform(vpe_raw, 'local_origin', LOOKUP_TIMEOUT) _vision_position_pub.publish(vpe_raw) vision_position_pub.publish(vpe)