fuxtec ros: stanley tuning

Ardumower · Aug 1, 2024 · 07a04d7 · 07a04d7
1 parent 459e041
commit 07a04d7
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/ros/src/mcl_3dl/config/mcl_3dl_demo.rviz b/ros/src/mcl_3dl/config/mcl_3dl_demo.rviz
@@ -417,11 +417,11 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 53.187686920166016
+      Scale: 31.11104393005371
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz)
-      X: -0.4618440568447113
-      Y: -0.745606005191803
+      X: -0.3860437572002411
+      Y: 6.518465042114258
     Saved: ~
 Window Geometry:
   Displays:

diff --git a/ros/src/sunray_node/launch/owl_fuxtec_ros.launch b/ros/src/sunray_node/launch/owl_fuxtec_ros.launch
@@ -85,7 +85,7 @@
 	<group if="$(eval sunray_ros_mode == 'LOCALIZATION' or sunray_ros_mode == 'MAPPING' )">
 		<!-- static transform publisher: base_link to gps_link 
 		http://wiki.ros.org/tf#static_transform_publisher   x=-0.25 y=0 z=-0.1 yaw=0 pitch=-0.2 roll=0 frame_id child_frame_id period_in_ms     -->
-		<node pkg="tf" type="static_transform_publisher" name="base_to_gps_tf" args="-0.3 0 -0.1 0 -0.2 0 robot/base_link gps_link 10"/>
+		<node pkg="tf" type="static_transform_publisher" name="base_to_gps_tf" args="-0.37 0 -0.1 0 -0.35 0 robot/base_link gps_link 10"/>
 		<!-- static transform publisher: base_link to livox_frame  -->
   		<node pkg="tf" type="static_transform_publisher" name="base_to_livox_tf" args="0 0 0.0  0 0 0 robot/base_link livox_frame 10"/>