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kdl_parser
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remove usage of deprecated remap tf functionality

This commit is contained in:
wim 2010-01-28 20:50:52 +00:00
parent 3f0382697a
commit 2d630925c4
1 changed files with 2 additions and 2 deletions
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4
robot_state_publisher/src/robot_state_publisher.cpp
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@ -85,8 +85,8 @@ bool RobotStatePublisher::publishTransforms(const map<string, double>& joint_pos
for (map<string, Frame>::const_iterator f=link_poses.begin(); f!=link_poses.end(); f++){ for (map<string, Frame>::const_iterator f=link_poses.begin(); f!=link_poses.end(); f++){
tf::TransformKDLToTF(f->second, tf_frame); tf::TransformKDLToTF(f->second, tf_frame);
trans.header.stamp = time; trans.header.stamp = time;
trans.header.frame_id = tf::remap(tf_prefix_, root_); trans.header.frame_id = tf::resolve(tf_prefix_, root_);
trans.child_frame_id = tf::remap(tf_prefix_, f->first); trans.child_frame_id = tf::resolve(tf_prefix_, f->first);
tf::transformTFToMsg(tf_frame, trans.transform); tf::transformTFToMsg(tf_frame, trans.transform);
tf_msg_.transforms[i++] = trans; tf_msg_.transforms[i++] = trans;
} }