tf is being published

sohils · sohils · commit 66d8305e887a · 2019-04-05T17:34:37.000-04:00
diff --git a/cuboid_detection/src/surface_normal_estimation.cpp b/cuboid_detection/src/surface_normal_estimation.cpp
@@ -80,7 +80,7 @@ void convert_icp_eigen_to_tf(Eigen::Matrix4f Tm)
     transform.setRotation(quaternion);
 
     // Broadcast the transforms
-    tf::TransformBroadcaster br;
+    static tf::TransformBroadcaster br;
     
     br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "camera_depth_frame", "cuboid_frame"));
 }

Original file line number	Diff line number	Diff line change
`@@ -80,7 +80,7 @@ void convert_icp_eigen_to_tf(Eigen::Matrix4f Tm)`
`80`	`80`	`transform.setRotation(quaternion);`
`81`	`81`
`82`	`82`	`// Broadcast the transforms`
`83`		`- tf::TransformBroadcaster br;`
	`83`	`+ static tf::TransformBroadcaster br;`
`84`	`84`
`85`	`85`	`br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "camera_depth_frame", "cuboid_frame"));`
`86`	`86`	`}`