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modify vins for rtabmap

This commit is contained in:
robin_shaun 2021-05-08 09:42:13 +08:00
parent ceccefb311
commit b377bcb59e
1 changed files with 1 additions and 1 deletions
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2
sensing/slam/vio/VINS-Fusion/vins_estimator/src/utility/visualization.cpp
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@ -336,7 +336,7 @@ void pubTF(const Estimator &estimator, const std_msgs::Header &header)
q.setY(Quaterniond(estimator.ric[0]).y());
q.setZ(Quaterniond(estimator.ric[0]).z());
transform.setRotation(q);
br.sendTransform(tf::StampedTransform(transform, header.stamp, "body", "camera"));
br.sendTransform(tf::StampedTransform(transform, header.stamp, "body", "camera_link"));
nav_msgs::Odometry odometry;