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use non-static tf for multi antenna offset correction #70

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use non-static tf for multi antenna offset correction #70

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2 changes: 1 addition & 1 deletion src/publishers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
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