incorrect tranformation of VelocityStamped with doTransform() #817
Description
Generated by Generative AI
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Operating System:
Ubuntu 22
ROS version or commit hash:
humble
RMW implementation (if applicable):
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RMW Configuration (if applicable):
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Client library (if applicable):
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'ros2 doctor --report' output
Steps to reproduce issue
Applying identity transform
geometry_msgs::msg::TransformStamped transform;
geometry_msgs::msg::VelocityStamped v;
v.velocity.linear.z = 1;
std::cout << to_yaml(transform, /*use_flow_style=*/true).c_str() << std::endl;
std::cout << to_yaml(v, /*use_flow_style=*/true).c_str() << std::endl;
tf2::doTransform(v, v, transform);
std::cout << to_yaml(v, /*use_flow_style=*/true).c_str() << std::endl;
Result (velocity doubled)
{header: {stamp: {sec: 0, nanosec: 0}, frame_id: ""}, child_frame_id: "", transform: {translation: {x: 0.00000, y: 0.00000, z: 0.00000},
rotation: {x: 0.00000, y: 0.00000, z: 0.00000, w: 1.00000}}}
{header: {stamp: {sec: 0, nanosec: 0}, frame_id: ""}, body_frame_id: "", reference_frame_id: "", velocity: {linear: {x: 0.00000, y: 0.000
00, z: 1.00000}, angular: {x: 0.00000, y: 0.00000, z: 0.00000}}}
{header: {stamp: {sec: 0, nanosec: 0}, frame_id: ""}, body_frame_id: "", reference_frame_id: "", velocity: {linear: {x: 0.00000, y: 0.00000, z: 2.00000}, angular: {x: 0.00000, y: 0.00000, z: 0.00000}}}
Expected behavior
Identity transform should not change magnitude of velocity
Actual behavior
Velocity is doubled
Additional information
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