From 6207e9d0894aee1ba18568feb59d98fdc02caad8 Mon Sep 17 00:00:00 2001 From: Adam Aposhian Date: Thu, 25 Apr 2024 11:24:05 -0600 Subject: [PATCH] use non-static tf for multi antenna offset correction --- src/publishers.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/publishers.cpp b/src/publishers.cpp index 72f4004..8e35b4b 100644 --- a/src/publishers.cpp +++ b/src/publishers.cpp @@ -1726,7 +1726,7 @@ void Publishers::handleFilterMultiAntennaOffsetCorrection(const mip::data_filter gnss_x_antenna_to_imu_link_transform.transform.translation.y += gnss_x_antenna_correction_to_microstrain_vehicle_tf.getOrigin().getY(); gnss_x_antenna_to_imu_link_transform.transform.translation.z += gnss_x_antenna_correction_to_microstrain_vehicle_tf.getOrigin().getZ(); } - static_transform_broadcaster_->sendTransform(gnss_x_antenna_to_imu_link_transform); + transform_broadcaster_->sendTransform(gnss_x_antenna_to_imu_link_transform); } void Publishers::handleFilterGnssDualAntennaStatus(const mip::data_filter::GnssDualAntennaStatus& gnss_dual_antenna_status, const uint8_t descriptor_set, mip::Timestamp timestamp)