From aaa584aec93a4737e84417971a020d44a1dc81c1 Mon Sep 17 00:00:00 2001
From: pmlab <lfreixas@iri.upc.edu>
Date: Mon, 15 Oct 2018 14:48:27 +0200
Subject: [PATCH] changed to publish always basic orientation pose
---
src/htc_vive_tracker_alg_node.cpp | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/src/htc_vive_tracker_alg_node.cpp b/src/htc_vive_tracker_alg_node.cpp
index 6b0a55a..7e1c1d4 100644
--- a/src/htc_vive_tracker_alg_node.cpp
+++ b/src/htc_vive_tracker_alg_node.cpp
@@ -100,6 +100,11 @@ void HtcViveTrackerAlgNode::filtered_odometryCallback(const nav_msgs::Odometry::
new_pose.pose = msg->pose.pose;
new_pose.header.stamp = ros::Time::now();
new_pose.header.frame_id = this->alg_.WORLD_NAME;
+ new_pose.pose.orientation.x = 0; //TODO : set orientation looking down instead of up
+ new_pose.pose.orientation.y = 0;
+ new_pose.pose.orientation.z = 0;
+ new_pose.pose.orientation.w = 1;
+
pose_publisher_.publish(new_pose);
}
--
GitLab