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env_manager: fix target pose loader

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This commit is contained in:
Ilya Uraev 2023-12-19 08:17:38 +03:00
parent 7637f835b1
commit 86fd3d1055
2 changed files with 3 additions and 6 deletions
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6
rbs_utils/src/rbs_utils.cpp
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@ -214,7 +214,7 @@ AssemblyConfigLoader::parseJsonToTFMessage(const nlohmann::json &json,
relative_transform.header.frame_id =
relative_part.at("relativeAt").get<std::string>();
relative_transform.child_frame_id =
relative_part.at("name").get<std::string>();
relative_part.at("name").get<std::string>() + "_target";
relative_transform.transform.translation.x =
convertToDouble(relative_part.at("position").at("x"));
relative_transform.transform.translation.y =
@ -238,9 +238,9 @@ AssemblyConfigLoader::parseJsonToTFMessage(const nlohmann::json &json,
if (grasp_pose.at("name").get<std::string>() == model_name) {
geometry_msgs::msg::TransformStamped grasp_transform;
grasp_transform.header.frame_id =
grasp_pose.at("name").get<std::string>();
grasp_pose.at("name").get<std::string>() + "_target";
grasp_transform.child_frame_id =
grasp_pose.at("name").get<std::string>() + "_grasp";
grasp_pose.at("name").get<std::string>() + "_target" + "_grasp";
grasp_transform.transform.translation.x =
convertToDouble(grasp_pose.at("position").at("x"));
grasp_transform.transform.translation.y =