Fix ROS2 sensorPose from /tf data

MOLAorg · Mar 5, 2024 · aabcb13 · aabcb13
1 parent f4f77c0
commit aabcb13
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/mola_input_ros2/src/InputROS2.cpp b/mola_input_ros2/src/InputROS2.cpp
@@ -299,7 +299,7 @@ bool InputROS2::waitForTransform(
     {
         geometry_msgs::msg::TransformStamped ref_to_trgFrame =
             tf_buffer_->lookupTransform(
-                target_frame, source_frame, time,
+                source_frame, target_frame, time,
                 tf2::durationFromSec(timeout.seconds()));
 
         tf2::Transform tf;

diff --git a/mola_input_rosbag2/src/Rosbag2Dataset.cpp b/mola_input_rosbag2/src/Rosbag2Dataset.cpp
@@ -587,13 +587,13 @@ bool Rosbag2Dataset::findOutSensorPose(
     {
         geometry_msgs::msg::TransformStamped ref_to_trgFrame =
             tfBuffer_->lookupTransform(
-                target_frame, source_frame, {} /*latest value*/);
+                source_frame, target_frame, {} /*latest value*/);
 
         tf2::Transform tf;
         tf2::fromMsg(ref_to_trgFrame.transform, tf);
         des = mrpt::ros2bridge::fromROS(tf);
 
-        MRPT_LOG_INFO_FMT(
+        MRPT_LOG_DEBUG_FMT(
             "[findOutSensorPose] Found pose %s -> %s: %s", source_frame.c_str(),
             target_frame.c_str(), des.asString().c_str());