Fix transformations to use correct parents and children frames

SBG-Systems · Oct 29, 2024 · 6995997 · 6995997
1 parent 381af45
commit 6995997
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/message_wrapper.cpp b/src/message_wrapper.cpp
@@ -1036,7 +1036,7 @@ const nav_msgs::msg::Odometry MessageWrapper::createRosOdoMessage(const sbg_driv
       pose.position.y = first_valid_northing_;
       pose.position.z = first_valid_altitude_;
 
-      fillTransform(odom_init_frame_id_, odom_frame_id_, pose, transform);
+      fillTransform(odom_init_frame_id_, odom_base_frame_id_, pose, transform);
       tf_broadcaster_->sendTransform(transform);
       static_tf_broadcaster_->sendTransform(transform);
     }
@@ -1084,7 +1084,7 @@ const nav_msgs::msg::Odometry MessageWrapper::createRosOdoMessage(const sbg_driv
   if (odom_publish_tf_)
   {
     // Publish odom transformation.
-    fillTransform(odo_ros_msg.header.frame_id, odom_base_frame_id_, odo_ros_msg.pose.pose, transform);
+    fillTransform(odom_base_frame_id_, odo_ros_msg.header.frame_id, odo_ros_msg.pose.pose, transform);
     tf_broadcaster_->sendTransform(transform);
   }
 

diff --git a/urdf/ellipse.urdf b/urdf/ellipse.urdf
@@ -3,7 +3,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="1.5708 0 -1.5708"/> <!-- Add rotation to align the 3D model with odometry -->
       <geometry>
-        <mesh filename="package://sbg_driver/meshes/ellipse.stl" scale="0.1 0.1 0.1"/>
+        <mesh filename="package://sbg_driver/meshes/ellipse.stl" scale="0.01 0.01 0.01"/>
       </geometry>
     </visual>
   </link>