From 966ef928882cd00b3aeae9e38cb5e9380b5d02bc Mon Sep 17 00:00:00 2001 From: Facundo Garcia Date: Tue, 26 Aug 2025 07:37:41 +0000 Subject: [PATCH] Fixed reference frame of ypr topic --- fixposition_driver_ros1/src/data_to_ros1.cpp | 2 +- fixposition_driver_ros2/src/data_to_ros2.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/fixposition_driver_ros1/src/data_to_ros1.cpp b/fixposition_driver_ros1/src/data_to_ros1.cpp index b9e792f..36ac5e1 100644 --- a/fixposition_driver_ros1/src/data_to_ros1.cpp +++ b/fixposition_driver_ros1/src/data_to_ros1.cpp @@ -210,7 +210,7 @@ void PublishFpaOdomenuVector3Stamped(const fpa::FpaOdomenuPayload& payload, ros: geometry_msgs::Vector3Stamped msg; msg.header.stamp = ros1::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time)); - msg.header.frame_id = ENU_FRAME_ID; + msg.header.frame_id = ODOMENU_FRAME_ID; const Eigen::Quaterniond quat = {payload.orientation.values[0], payload.orientation.values[1], payload.orientation.values[2], payload.orientation.values[3]}; diff --git a/fixposition_driver_ros2/src/data_to_ros2.cpp b/fixposition_driver_ros2/src/data_to_ros2.cpp index a09d2e4..d60f844 100644 --- a/fixposition_driver_ros2/src/data_to_ros2.cpp +++ b/fixposition_driver_ros2/src/data_to_ros2.cpp @@ -213,7 +213,7 @@ void PublishFpaOdomenuVector3Stamped(const fpa::FpaOdomenuPayload& payload, geometry_msgs::msg::Vector3Stamped msg; msg.header.stamp = ros2::utils::ConvTime(FpaGpsTimeToTime(payload.gps_time)); - msg.header.frame_id = ENU_FRAME_ID; + msg.header.frame_id = ODOMENU_FRAME_ID; const Eigen::Quaterniond quat = {payload.orientation.values[0], payload.orientation.values[1], payload.orientation.values[2], payload.orientation.values[3]};