Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_DDS: Use common quaternion initialization function 

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2024-05-25 18:55:15 -06:00 committed by Randy Mackay
parent 600f6eade0
commit b630940981
1 changed files with 12 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
libraries/AP_DDS/AP_DDS_Client.cpp
View File

@ -83,6 +83,14 @@ const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
AP_GROUPEND AP_GROUPEND
}; };
static void initialize(geometry_msgs_msg_Quaternion& q)
{
q.x = 0.0;
q.y = 0.0;
q.z = 0.0;
q.w = 1.0;
}
AP_DDS_Client::~AP_DDS_Client() AP_DDS_Client::~AP_DDS_Client()
{ {
// close transport // close transport
@ -232,11 +240,8 @@ void AP_DDS_Client::populate_static_transforms(tf2_msgs_msg_TFMessage& msg)
msg.transforms[i].transform.translation.y = -1 * offset[1]; msg.transforms[i].transform.translation.y = -1 * offset[1];
msg.transforms[i].transform.translation.z = -1 * offset[2]; msg.transforms[i].transform.translation.z = -1 * offset[2];
// Ensure rotation is normalised // Ensure rotation is initialized.
msg.transforms[i].transform.rotation.x = 0.0; initialize(msg.transforms[i].transform.rotation);
msg.transforms[i].transform.rotation.y = 0.0;
msg.transforms[i].transform.rotation.z = 0.0;
msg.transforms[i].transform.rotation.w = 1.0;
msg.transforms_size++; msg.transforms_size++;
} }
@ -350,10 +355,7 @@ void AP_DDS_Client::update_topic(geometry_msgs_msg_PoseStamped& msg)
msg.pose.orientation.y = orientation[2]; msg.pose.orientation.y = orientation[2];
msg.pose.orientation.z = orientation[3]; msg.pose.orientation.z = orientation[3];
} else { } else {
msg.pose.orientation.x = 0.0; initialize(msg.pose.orientation);
msg.pose.orientation.y = 0.0;
msg.pose.orientation.z = 0.0;
msg.pose.orientation.w = 1.0;
} }
} }
@ -434,10 +436,7 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg)
msg.pose.orientation.y = orientation[2]; msg.pose.orientation.y = orientation[2];
msg.pose.orientation.z = orientation[3]; msg.pose.orientation.z = orientation[3];
} else { } else {
msg.pose.orientation.x = 0.0; initialize(msg.pose.orientation);
msg.pose.orientation.y = 0.0;
msg.pose.orientation.z = 0.0;
msg.pose.orientation.w = 1.0;
} }
} }