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This commit is contained in:
JaeyoungLim
2025-12-01 02:49:10 -08:00
parent 2ea7cc015b
commit 7de2f1d618
1 changed files with 3 additions and 3 deletions
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src/modules/simulation/gz_bridge/GZBridge.cpp
+3 -3
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@@ -508,7 +508,7 @@ void GZBridge::poseInfoCallback(const gz::msgs::Pose_V &msg)
const double dt = math::constrain((timestamp - _timestamp_prev) * 1e-6, 0.001, 0.1);
_timestamp_prev = timestamp;
gz::math::Pose3d model_pose = gz::msgs::Convert(msg);
gz::math::Pose3d model_pose = gz::msgs::Convert(msg.pose(p));
gz::math::Vector3d offset = gz::math::Vector3d(5.0, 5.0, 5.0);
double offset_yaw = 0.1;
gz::math::Vector3d offset_world = model_pose.Rot().RotateVector(offset);
@@ -520,8 +520,8 @@ void GZBridge::poseInfoCallback(const gz::msgs::Pose_V &msg)
gz::msgs::GUICamera camera_msg;
gz::msgs::Set(camera_msg.mutable_pose()->mutable_position(), camera_position);
gz::msgs::Set(camera_msg.mutable_pose()->mutable_orientation(), camera_orientation);
camera_msg.duration = 0.1;
_camera_pub.publish(camera_msg);
// camera_msg.set_duration(0.1);
_camera_pub.Publish(camera_msg);
gz::msgs::Vector3d pose_position = msg.pose(p).position();
gz::msgs::Quaternion pose_orientation = msg.pose(p).orientation();