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m_RootOrder: 0 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!114 &2623422876239157573 MonoBehaviour: diff --git a/Assets/UnitySensorsROS/Runtime/Prefabs/IMU/IMU_ros.prefab b/Assets/UnitySensorsROS/Runtime/Prefabs/IMU/IMU_ros.prefab index 1ad7c1b2..499e106e 100644 --- a/Assets/UnitySensorsROS/Runtime/Prefabs/IMU/IMU_ros.prefab +++ b/Assets/UnitySensorsROS/Runtime/Prefabs/IMU/IMU_ros.prefab @@ -25,13 +25,13 @@ Transform: m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 3526848927119471300} + serializedVersion: 2 m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} m_LocalPosition: {x: 0, y: 0, z: 0} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: [] m_Father: {fileID: 0} - m_RootOrder: 0 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!114 &3526848927119471302 MonoBehaviour: diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Tf2Msgs/TFMessageMsgSerializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Tf2Msgs/TFMessageMsgSerializer.cs index bc1163c6..e5b199de 100644 --- a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Tf2Msgs/TFMessageMsgSerializer.cs +++ b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Tf2Msgs/TFMessageMsgSerializer.cs @@ -33,10 +33,12 @@ public override TFMessageMsg Serialize() List transforms = new List(); TFData[] tfData = _source.GetTFData(); - foreach(TFData data in tfData) + foreach (TFData data in tfData) { TransformStampedMsg transform = new TransformStampedMsg(); - transform.header = headerMsg; + transform.header = new HeaderMsg(); + transform.header.stamp = headerMsg.stamp; + transform.header.seq = headerMsg.seq; transform.header.frame_id = data.frame_id_parent; transform.child_frame_id = data.frame_id_child; transform.transform.translation = data.position.To();