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use time stamp of msg header, not box header #836

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use time stamp of msg header, not box header #836

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01cda47
use time stamp of msg header, not box header
k-okada Nov 5, 2021
35ac828
Merge branch 'master' into fix_834
k-okada May 11, 2024
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6 changes: 3 additions & 3 deletions jsk_rviz_plugins/src/bounding_box_display_common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -217,7 +217,7 @@ namespace jsk_rviz_plugins
Ogre::Vector3 position;
Ogre::Quaternion orientation;
if(!this->context_->getFrameManager()->transform(
box.header, box.pose, position, orientation)) {
box.header.frame_id, msg->header.stamp, box.pose, position, orientation)) {
std::ostringstream oss;
oss << "Error transforming pose";
oss << " from frame '" << box.header.frame_id << "'";
Expand Down Expand Up @@ -279,7 +279,7 @@ namespace jsk_rviz_plugins
edge->clear();
Ogre::Vector3 position;
Ogre::Quaternion quaternion;
if(!this->context_->getFrameManager()->transform(box.header, box.pose,
if(!this->context_->getFrameManager()->transform(box.header.frame_id, msg->header.stamp, box.pose,
position,
quaternion)) {
std::ostringstream oss;
Expand Down Expand Up @@ -369,7 +369,7 @@ namespace jsk_rviz_plugins
Ogre::Vector3 position;
Ogre::Quaternion orientation;
if(!this->context_->getFrameManager()->getTransform(
box.header, position, orientation)) {
box.header.frame_id, msg->header.stamp, position, orientation)) {
ROS_DEBUG("Error transforming from frame '%s' to frame '%s'",
box.header.frame_id.c_str(), qPrintable(this->fixed_frame_));
return;
Expand Down