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[nav2 loopback sim] Making base frame ID for map to base link transform based on base frame ID parameter #4632

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Aug 20, 2024
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[nav2 loopback sim] Making base frame ID for map to base link transform based on base frame ID parameter #4632

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2 changes: 1 addition & 1 deletion nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -166,7 +166,7 @@ def initialPoseCallback(self, msg):
# Adjust map->odom transform based on new initial pose, keeping odom->base_link the same
t_map_to_base_link = TransformStamped()
t_map_to_base_link.header = msg.header
t_map_to_base_link.child_frame_id = 'base_link'
t_map_to_base_link.child_frame_id = self.base_frame_id
t_map_to_base_link.transform.translation.x = self.initial_pose.position.x
t_map_to_base_link.transform.translation.y = self.initial_pose.position.y
t_map_to_base_link.transform.translation.z = 0.0
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