From 7de2f1d618b5c27dd14dde9ce5ac05440e8652ce Mon Sep 17 00:00:00 2001 From: JaeyoungLim Date: Mon, 1 Dec 2025 02:49:10 -0800 Subject: [PATCH] Fix --- src/modules/simulation/gz_bridge/GZBridge.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp index 32b76f084c..be135e2728 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.cpp +++ b/src/modules/simulation/gz_bridge/GZBridge.cpp @@ -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();