gazebosim / ros_gz

Integration between ROS (1 and 2) and Gazebo simulation

https://gazebosim.org

Apache License 2.0

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Make the pose_V to TFMessage conform with ROS2 #510

Open teyssieuman opened 3 months ago

teyssieuman commented 3 months ago

🦟 Bug fix

The conversion from a gz::msgs::pose_V message to a ros2 geometry_msgs::msg::TransformStamped message what not compatible to make it a proper "tf2" message.

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[x] Signed all commits for DCO

azeey commented 3 months ago

I'm not sure why this PR is needed. The child_frame_id is properly handled by the conversion from gz::msgs::Pose to geometry_msgs::msg::TransformStamped in

https://github.com/gazebosim/ros_gz/blob/21d4c2317bbaa1d73260257e27fd61f20eb13ea1/ros_gz_bridge/src/convert/geometry_msgs.cpp#L251-L257

and the frame_id is handled in https://github.com/gazebosim/ros_gz/blob/21d4c2317bbaa1d73260257e27fd61f20eb13ea1/ros_gz_bridge/src/convert/std_msgs.cpp#L171-L176