small fixes in pose publisher

delihus · Feb 18, 2024 · e2dd294 · e2dd294
1 parent 1adfab0
commit e2dd294
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/nova_carter_dock/launch/demo_setup.launch.py b/nova_carter_dock/launch/demo_setup.launch.py
@@ -40,7 +40,7 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(os.path.join(
             carter_navigation_launch_dir, 'teleop.launch.py')),
         launch_arguments={
-            'launch_hawks': True,
+            'launch_hawks': 'True',
         }.items(),
     )
 

diff --git a/nova_carter_dock/src/dock_pose_publisher.cpp b/nova_carter_dock/src/dock_pose_publisher.cpp
@@ -46,14 +46,14 @@ class DockPosePublisher : public rclcpp::Node
       for (unsigned int i = 0; i != msg->detections.size(); i++) {
         if (!use_first_detection_) {
           if (msg->detections[i].family == dock_tag_family_ && msg->detections[i].id == dock_tag_id_) {
-            p.header = msg->detections[i].pose.header;
+            p.header = msg->header;
             p.pose = msg->detections[i].pose.pose.pose;
             publisher_->publish(p);
             return;
           }
         } else {
           // Use the first detection found
-          p.header = msg->detections[0].pose.header;
+          p.header = msg->header;
           p.pose = msg->detections[0].pose.pose.pose;
           publisher_->publish(p);
           return;