From 7495d0e849ad1a87c4d5d263ad3d2611edd5e076 Mon Sep 17 00:00:00 2001 From: Vincent Belpois Date: Fri, 26 Apr 2024 22:40:19 +0200 Subject: [PATCH] added frame id to odometry message --- .../src/omnidirectional_controller.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/omnidirectional_controllers/src/omnidirectional_controller.cpp b/src/omnidirectional_controllers/src/omnidirectional_controller.cpp index f23283f..62f4223 100644 --- a/src/omnidirectional_controllers/src/omnidirectional_controller.cpp +++ b/src/omnidirectional_controllers/src/omnidirectional_controller.cpp @@ -472,6 +472,7 @@ controller_interface::return_type OmnidirectionalController::update( odometry_message_.pose.pose.orientation.w = orientation.w(); odometry_message_.twist.twist.linear = cmd_vel_->twist.linear; odometry_message_.twist.twist.angular = cmd_vel_->twist.angular; + odometry_message_.header.frame_id = odom_params_.odom_frame_id; odometry_publisher_->publish(odometry_message_); }