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Fixed reference frame of ypr topic #90

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Merged
fgarciacardenas merged 1 commit into from
Aug 26, 2025
Merged

Fixed reference frame of ypr topic #90

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2 changes: 1 addition & 1 deletion fixposition_driver_ros1/src/data_to_ros1.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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]};
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2 changes: 1 addition & 1 deletion fixposition_driver_ros2/src/data_to_ros2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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]};
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