While using the frameTransformSet_nwc_ros2 device from within a C++ executable I noticed that the transforms I was setting were not correctly published in tf. Specifically, the z coordinate was different from the one published by the user and always equal to the y coordinate.
xEnVrE
commented
1 year ago
While using the
frameTransformSet_nwc_ros2device from within a C++ executable I noticed that the transforms I was setting were not correctly published intf. Specifically, the z coordinate was different from the one published by the user and always equal to the y coordinate.After checking the code I discovered that the assignment is not correct, as per: https://github.com/robotology/yarp-devices-ros2/blob/4a71c7fd5d1bd622e523f8bb0d2f078372b4c6b9/src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.cpp#L152-L154