[Personalrobots-commit] SF.net SVN: personalrobots: [587] pkg/trunk/simulators/rosstage/rosstage.cc

[<ge...@us...>]

Revision: 587
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=587&view=rev
Author:   gerkey
Date:     2008-05-30 17:43:29 -0700 (Fri, 30 May 2008)

Log Message:
-----------
fixed frame ref

Modified Paths:
--------------
    pkg/trunk/simulators/rosstage/rosstage.cc

Modified: pkg/trunk/simulators/rosstage/rosstage.cc
===================================================================
--- pkg/trunk/simulators/rosstage/rosstage.cc	2008-05-31 00:43:08 UTC (rev 586)
+++ pkg/trunk/simulators/rosstage/rosstage.cc	2008-05-31 00:43:29 UTC (rev 587)
@@ -240,6 +240,8 @@
       this->laserMsg.intensities[i] = (uint8_t)samples[i].reflectance;
     }
 
+    // TODO: get the frame ID from somewhere
+    this->laserMsg.header.frame_id = FRAMEID_LASER;
     this->laserMsg.header.stamp.sec = 
             (unsigned long)floor(world->SimTimeNow() / 1e6);
     this->laserMsg.header.stamp.nsec = 
@@ -274,15 +276,15 @@
   printf("time: %u, %u \n",odomMsg.header.stamp.sec, odomMsg.header.stamp.nsec);
 
   tf.sendInverseEuler(FRAMEID_ODOM,
-		      FRAMEID_ROBOT,
-		      odomMsg.pos.x,
-		      odomMsg.pos.y,
-		      0.0,
-		      odomMsg.pos.th,
-		      0.0,
-		      0.0,
-		      odomMsg.header.stamp.sec,
-		      odomMsg.header.stamp.nsec);
+                      FRAMEID_ROBOT,
+                      odomMsg.pos.x,
+                      odomMsg.pos.y,
+                      0.0,
+                      odomMsg.pos.th,
+                      0.0,
+                      0.0,
+                      odomMsg.header.stamp.sec,
+                      odomMsg.header.stamp.nsec);
   
   this->lock.unlock();
 }


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