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tf2::Transform receiver_world_pose = last_robot_pose_ * receiver_pose;
should be enough when transforming the receiver pose (in robot frame) into the world frame using the robot pose (in world frame).Similarly for emitter pose.
Description
The function
inline tf2::Transform static_link_wrt_global_frame(tf2::Transform static_link, tf2::Transform base_frame)
inirobot_create_ignition_toolbox/include/irobot_create_ignition_toolbox/utils.hpp
is not necessary and might be wrong.This is a simple change that addresses this mistake.
Type of change
How Has This Been Tested?
Changing the orientation of the ir opcode sensors with respect to the base frame results in wrong transforms due to the mistake in transforms mentioned above. This fix makes sure that the transforms are correct. I have tested this by adding a dummy base_link frame that is 180 off the original base_link frame.
Checklist