From 356524b0b2c6197185b36ffc790b466ff8428004 Mon Sep 17 00:00:00 2001 From: Facundo Garcia Date: Mon, 28 Oct 2024 14:36:06 +0100 Subject: [PATCH] Fixed wrong calls --- fixposition_driver_ros2/src/data_to_ros2.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/fixposition_driver_ros2/src/data_to_ros2.cpp b/fixposition_driver_ros2/src/data_to_ros2.cpp index f49dcb7..651fea8 100644 --- a/fixposition_driver_ros2/src/data_to_ros2.cpp +++ b/fixposition_driver_ros2/src/data_to_ros2.cpp @@ -627,15 +627,15 @@ void PublishNav2Tf(const std::map FP_POISH // Extract translation and rotation from ECEFENU0 - geometry_msgs::Vector3 trans_ecef_enu0 = tf_map.at("ECEFENU0")->transform.translation; - geometry_msgs::Quaternion rot_ecef_enu0 = tf_map.at("ECEFENU0")->transform.rotation; + geometry_msgs::msg::Vector3 trans_ecef_enu0 = tf_map.at("ECEFENU0")->transform.translation; + geometry_msgs::msg::Quaternion rot_ecef_enu0 = tf_map.at("ECEFENU0")->transform.rotation; Eigen::Vector3d t_ecef_enu0_; t_ecef_enu0_ << trans_ecef_enu0.x, trans_ecef_enu0.y, trans_ecef_enu0.z; Eigen::Quaterniond q_ecef_enu0_(rot_ecef_enu0.w, rot_ecef_enu0.x, rot_ecef_enu0.y, rot_ecef_enu0.z); // Extract translation and rotation from ECEFPOISH - geometry_msgs::Vector3 trans_ecef_poish = tf_map.at("ECEFPOISH")->transform.translation; - geometry_msgs::Quaternion rot_ecef_poish = tf_map.at("ECEFPOISH")->transform.rotation; + geometry_msgs::msg::Vector3 trans_ecef_poish = tf_map.at("ECEFPOISH")->transform.translation; + geometry_msgs::msg::Quaternion rot_ecef_poish = tf_map.at("ECEFPOISH")->transform.rotation; Eigen::Vector3d t_ecef_poish; t_ecef_poish << trans_ecef_poish.x, trans_ecef_poish.y, trans_ecef_poish.z; Eigen::Quaterniond q_ecef_poish(rot_ecef_poish.w, rot_ecef_poish.x, rot_ecef_poish.y, rot_ecef_poish.z);