use non-static tf for multi antenna offset correction

Aposhian · Aposhian · commit 6207e9d0894a · 2024-05-09T09:10:49.000-06:00
diff --git a/src/publishers.cpp b/src/publishers.cpp
@@ -1726,7 +1726,7 @@ void Publishers::handleFilterMultiAntennaOffsetCorrection(const mip::data_filter
     gnss_x_antenna_to_imu_link_transform.transform.translation.y += gnss_x_antenna_correction_to_microstrain_vehicle_tf.getOrigin().getY();
     gnss_x_antenna_to_imu_link_transform.transform.translation.z += gnss_x_antenna_correction_to_microstrain_vehicle_tf.getOrigin().getZ();
   }
-  static_transform_broadcaster_->sendTransform(gnss_x_antenna_to_imu_link_transform);
+  transform_broadcaster_->sendTransform(gnss_x_antenna_to_imu_link_transform);
 }
 
 void Publishers::handleFilterGnssDualAntennaStatus(const mip::data_filter::GnssDualAntennaStatus& gnss_dual_antenna_status, const uint8_t descriptor_set, mip::Timestamp timestamp)

Original file line number	Diff line number	Diff line change
`@@ -1726,7 +1726,7 @@ void Publishers::handleFilterMultiAntennaOffsetCorrection(const mip::data_filter`
`1726`	`1726`	`gnss_x_antenna_to_imu_link_transform.transform.translation.y += gnss_x_antenna_correction_to_microstrain_vehicle_tf.getOrigin().getY();`
`1727`	`1727`	`gnss_x_antenna_to_imu_link_transform.transform.translation.z += gnss_x_antenna_correction_to_microstrain_vehicle_tf.getOrigin().getZ();`
`1728`	`1728`	`}`
`1729`		`- static_transform_broadcaster_->sendTransform(gnss_x_antenna_to_imu_link_transform);`
	`1729`	`+ transform_broadcaster_->sendTransform(gnss_x_antenna_to_imu_link_transform);`
`1730`	`1730`	`}`
`1731`	`1731`
`1732`	`1732`	`void Publishers::handleFilterGnssDualAntennaStatus(const mip::data_filter::GnssDualAntennaStatus& gnss_dual_antenna_status, const uint8_t descriptor_set, mip::Timestamp timestamp)`