ROS_Robot/wpb_home
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output yaw

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zhangwanjie 2024-10-18 09:20:24 +08:00
parent 2382c1a00c
commit 091744388c
1 changed files with 1 additions and 1 deletions
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wpb_home_bringup/src/wpb_home_imu_tf.cpp
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@ -50,7 +50,7 @@ void imuCallback(const sensor_msgs::Imu::ConstPtr& msg)
tf::Transform transform;
transform.setOrigin( tf::Vector3(0, 0, 0) );
tf::Quaternion q(msg->orientation.x,msg->orientation.y,msg->orientation.z,msg->orientation.w);
printf("[wpb_home_imu_tf] Yaw= %f \n",tf::getYaw(q)*180/3.1415);
ROS_WARN("[wpb_home_imu_tf] Yaw= %f ",tf::getYaw(q)*180/3.1415);
transform.setRotation(q);
odom_broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "imu_base", "base_footprint"));
}