Merge branch 'master' of github.com:ipa-fmw/cob_driver

ipa320 · May 9, 2012 · ec34cf2 · ec34cf2
2 parents 7e75c57 + 2dcfacf
commit ec34cf2
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true)
 # variables.
 #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
 
-rosbuild_make_distribution(0.4.4)
+rosbuild_make_distribution(0.4.5)
diff --git a/cob_undercarriage_ctrl/ros/src/cob_undercarriage_ctrl.cpp b/cob_undercarriage_ctrl/ros/src/cob_undercarriage_ctrl.cpp
@@ -655,7 +655,7 @@ void NodeClass::UpdateOdometry()
 	geometry_msgs::TransformStamped odom_tf;
 	// compose header
 	odom_tf.header.stamp = joint_state_odom_stamp_;
-	odom_tf.header.frame_id = "/wheelodom";
+	odom_tf.header.frame_id = "/odom_combined";
 	odom_tf.child_frame_id = "/base_footprint";
 	// compose data container
 	odom_tf.transform.translation.x = x_rob_m_;
@@ -697,7 +697,7 @@ void NodeClass::UpdateOdometry()
 	}
 
 	// publish the transform (for debugging, conflicts with robot-pose-ekf)
-	// tf_broadcast_odometry_.sendTransform(odom_tf);
+	tf_broadcast_odometry_.sendTransform(odom_tf);
 
 	// publish odometry msg
 	topic_pub_odometry_.publish(odom_top);