Patched minor bug in the LLH output and ROS2 odometry converter

fixposition · Aug 6, 2024 · fabb6c4 · fabb6c4
1 parent 2f3d034
commit fabb6c4
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/fixposition_driver_ros1/src/data_to_ros1.cpp b/fixposition_driver_ros1/src/data_to_ros1.cpp
@@ -527,7 +527,7 @@ void OdomToNavSatFix(const FP_ODOMETRY& data, ros::Publisher& pub) {
         } else {
             msg.header.stamp = ros::Time::fromBoost(GpsTimeToPtime(data.odom.stamp));
         }
-        msg.header.frame_id = data.odom.frame_id;
+        msg.header.frame_id = data.odom.child_frame_id;
 
         // Populate LLH position
         const Eigen::Vector3d llh_pos = TfWgs84LlhEcef(data.odom.pose.position);

diff --git a/fixposition_driver_ros2/src/data_to_ros2.cpp b/fixposition_driver_ros2/src/data_to_ros2.cpp
@@ -525,7 +525,7 @@ void OdomToNavSatFix(const fixposition::FP_ODOMETRY& data, rclcpp::Publisher<sen
         } else {
             msg.header.stamp = GpsTimeToMsgTime(data.odom.stamp);
         }
-        msg.header.frame_id = data.odom.frame_id;
+        msg.header.frame_id = data.odom.child_frame_id;
 
         // Populate LLH position
         const Eigen::Vector3d llh_pos = TfWgs84LlhEcef(data.odom.pose.position);

diff --git a/fixposition_odometry_converter_ros2/include/fixposition_odometry_converter_ros2/params.hpp b/fixposition_odometry_converter_ros2/include/fixposition_odometry_converter_ros2/params.hpp
@@ -21,7 +21,7 @@
 #include <string>
 
 /* PACKAGE */
-#include <fixposition_odometry_converter_ros2/ros_msgs.hpp>
+#include <fixposition_odometry_converter_ros2/ros2_msgs.hpp>
 
 namespace fixposition {