Revert "Publish a static base_link -> imu_link transform."

This reverts commit 9de7be8.
NEWSLabNTU · Dec 13, 2024 · 023fa07 · 023fa07
1 parent 98534d6
commit 023fa07
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Showing 2 changed files with 1 addition and 2 deletions.
diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml
@@ -35,7 +35,7 @@
     # TF
     tf_gnss_frame:
       parent: "base_link"
-      child: "imu_link"
+      child: "gnss_link"
 
     # Origin of GNSS coordinates (ECEF to ENU)
     ecef_base_pos:

diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -132,6 +132,5 @@
       if="$(var rviz)"
       respawn="$(var rviz_respawn)"
     />
-    <node name="base_link_tf" pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id /base_link --child-frame-id /imu_link"/>
   </group>
 </launch>