Fix transformations to use correct parents and children frames

SBG-Systems · Oct 29, 2024 · d729ce5 · d729ce5
1 parent 6a2565e
commit d729ce5
Showing 1 changed file with 2 additions and 2 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);
   }