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Make the pose_V to TFMessage conform with ROS2 #510

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Make the pose_V to TFMessage conform with ROS2 #510

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6 changes: 6 additions & 0 deletions ros_gz_bridge/src/convert/tf2_msgs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,9 +44,15 @@ convert_gz_to_ros(
tf2_msgs::msg::TFMessage & ros_msg)
{
ros_msg.transforms.clear();
builtin_interfaces::msg::Time ros_stamp;
convert_gz_to_ros(gz_msg.header().stamp(), ros_stamp);

for (auto const & p : gz_msg.pose()) {
geometry_msgs::msg::TransformStamped tf;
convert_gz_to_ros(p, tf);
tf.header.stamp = ros_stamp;
tf.header.frame_id = "world";
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not sure about this, maybe we should be able to configure this with a parameter, @azeey or @mjcarroll thoughts?

tf.child_frame_id = p.name();
ros_msg.transforms.push_back(tf);
}
}
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