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Rvizでmap以外のフレームを原点にinitialposeを設定すると初期位置が誤った位置になる #37

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nyxrobotics opened this issue Jan 18, 2024 · 0 comments · May be fixed by #40

nyxrobotics commented Jan 18, 2024

概要
initialposeのheader.frame_idを見ていないのでrvizの原点がmap以外だと初期位置設定できない

hdl_localization/src/nodelet/hdl_localization_nodelet.cpp

Line 445 in 3f73a2f

    
           void HdlLocalizationNodelet::initialposeCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr& pose_msg)

TF Lookupを追加してrviz原点がどこでも初期位置設定できるようにしたい

目的
提案内容
タスク

細かいタスクに分解できているなら書き出す

nyxrobotics linked a pull request

that will close this issue

Feature/init on tf #40

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