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Update pose_republisher_node.cpp #236

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Update pose_republisher_node.cpp #236

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6 changes: 2 additions & 4 deletions ...te_ignition/irobot_create_ignition_toolbox/src/pose_republisher/pose_republisher_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,8 +104,7 @@ void PoseRepublisher::robot_subscriber_callback(const tf2_msgs::msg::TFMessage::
// Convert pose to tf2 transform
tf2::convert(receiver_msg->pose.pose, receiver_pose);
// Get receiver pose with respect to world frame
tf2::Transform receiver_world_pose = utils::static_link_wrt_global_frame(
receiver_pose, last_robot_pose_);
tf2::Transform receiver_world_pose = last_robot_pose_ * receiver_pose;
// Convert tf2 transform back to pose
utils::tf2_transform_to_pose(receiver_world_pose, receiver_msg->pose.pose);
// Publish
Expand All @@ -130,8 +129,7 @@ void PoseRepublisher::dock_subscriber_callback(const tf2_msgs::msg::TFMessage::S
// Convert pose to tf2 transform
tf2::convert(emitter_msg->pose.pose, emitter_pose);
// Get emitter pose with respect to world frame
tf2::Transform emitter_world_pose = utils::static_link_wrt_global_frame(
emitter_pose, last_dock_pose_);
tf2::Transform emitter_world_pose last_dock_pose_ * emitter_pose;
// Convert tf2 transform back to pose
utils::tf2_transform_to_pose(emitter_world_pose, emitter_msg->pose.pose);
// Publish
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