From d0ce0170099c445b80ae6bcffb52526bdaf065fd Mon Sep 17 00:00:00 2001 From: yamato-ando Date: Thu, 16 Nov 2023 17:41:56 +0900 Subject: [PATCH] fix bug Signed-off-by: yamato-ando --- .../lidar_marker_localizer/src/lidar_marker_localizer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization/landmark_based_localizer/lidar_marker_localizer/src/lidar_marker_localizer.cpp b/localization/landmark_based_localizer/lidar_marker_localizer/src/lidar_marker_localizer.cpp index 321e7c1f67289..c3ba3bfb97b1b 100644 --- a/localization/landmark_based_localizer/lidar_marker_localizer/src/lidar_marker_localizer.cpp +++ b/localization/landmark_based_localizer/lidar_marker_localizer/src/lidar_marker_localizer.cpp @@ -270,7 +270,7 @@ void LidarMarkerLocalizer::points_callback( geometry_msgs::msg::PoseStamped marker_pose_on_base_link; marker_pose_on_base_link.header.stamp = sensor_ros_time; marker_pose_on_base_link.header.frame_id = "base_link"; - marker_pose_on_base_link.pose.position.x = (i - dx / 2) * resolution; + marker_pose_on_base_link.pose.position.x = i * resolution + min_x; marker_pose_on_base_link.pose.position.y = distance[i]; marker_pose_on_base_link.pose.position.z = 0.2 + 1.75 / 2.0; // TODO marker_pose_on_base_link.pose.orientation =