Merge pull request #127 from Field-Robotics-Japan/hotfix/tfMsgSerizlier

Hotfix/tf msg serizlier
Field-Robotics-Japan · Feb 14, 2024 · 290aec2 · 290aec2
2 parents c0e8336 + c12c1bd
commit 290aec2
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Serializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Serializer.cs
@@ -1,6 +1,4 @@
 using Unity.Robotics.ROSTCPConnector.MessageGeneration;
-using RosMessageTypes.Std;
-
 
 using UnitySensors.Sensor;
 

diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/TF/TFMsgSerializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/TF/TFMsgSerializer.cs
@@ -29,12 +29,13 @@ public override TFMessageMsg Serialize()
         {
             HeaderMsg headerMsg = _header.Serialize();
             List<TransformStampedMsg> transforms = new List<TransformStampedMsg>();
-            
+
             TFData[] tfData = sensor.GetTFData();
             foreach(TFData data in tfData)
             {
                 TransformStampedMsg transform = new TransformStampedMsg();
-                transform.header = headerMsg;
+                transform.header.seq = headerMsg.seq;
+                transform.header.stamp = headerMsg.stamp;
                 transform.header.frame_id = data.frame_id_parent;
                 transform.child_frame_id = data.frame_id_child;
                 transform.transform.translation = data.position.To<FLU>();