From 1b89c4634d1c5b831d656f4391fa2fcfa9e41347 Mon Sep 17 00:00:00 2001 From: Julian Cerruti Date: Wed, 26 Apr 2017 17:09:55 -0300 Subject: [PATCH] Fix TF error due to inprecise quaternion --- .../com/ekumen/tangobot/nodes/DefaultRobotTfPublisherNode.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tangobot_app/app/src/main/java/com/ekumen/tangobot/nodes/DefaultRobotTfPublisherNode.java b/tangobot_app/app/src/main/java/com/ekumen/tangobot/nodes/DefaultRobotTfPublisherNode.java index a4abb86..1937731 100644 --- a/tangobot_app/app/src/main/java/com/ekumen/tangobot/nodes/DefaultRobotTfPublisherNode.java +++ b/tangobot_app/app/src/main/java/com/ekumen/tangobot/nodes/DefaultRobotTfPublisherNode.java @@ -38,7 +38,7 @@ public class DefaultRobotTfPublisherNode extends ExtrinsicsTfPublisherNode { // in the Tangobot wiki: http://wiki.ros.org/tangobot/tutorials/kinetic/hardware%20setup public static final Transform TRANSFORM_PHAB2PRO = new Transform( new Vector3(0, -0.05, 0.1), - new Quaternion(0, 0.707, 0, 0.707)); + new Quaternion(0, Math.sqrt(2)/2.0, 0, Math.sqrt(2)/2.0)); // Identity transform, only for debugging and error cases. public static final Transform TRANSFORM_IDENTITY = new Transform(