Use imu_link frame_id instead of base_link for IMU TFs

tomas789#24, tomas789#25
valgur · May 8, 2019 · c2dcf71 · c2dcf71
1 parent c796788
commit c2dcf71
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/kitti2bag/__init__.py b/kitti2bag/__init__.py
@@ -89,7 +89,7 @@ def save_dynamic_tf(bag, kitti, dataset_type):
     print("Exporting time dependent transformations")
     if dataset_type == 'raw':
         tf_matrices = [oxt.T_w_imu for oxt in kitti.oxts]
-        child_frame_id = 'base_link'
+        child_frame_id = 'imu_link'
     elif dataset_type == 'odom':
         tf_matrices = kitti.T_w_cam0
         child_frame_id = 'camera_left'