Issue #215

Fixed incorrect reading of the orientation from the visual mesh. Instead use the rotation of the afRigidBody
WPI-AIM · Sep 26, 2023 · 43baf0a · 43baf0a
1 parent 6a23e19
commit 43baf0a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ambf_plugins/core/ros_comm_plugin/ObjectCommPlugin.cpp b/ambf_plugins/core/ros_comm_plugin/ObjectCommPlugin.cpp
@@ -736,7 +736,7 @@ void afObjectCommunicationPlugin::rigidBodyUpdateState(afRigidBodyPtr afRBPtr, d
     setTimeStamps(m_objectPtr->m_afWorld->getWallTime(), m_objectPtr->m_afWorld->getSimulationTime(), m_objectPtr->getCurrentTimeStamp());
     btRigidBody* btRBPtr = afRBPtr->m_bulletRigidBody;
     cQuaternion q;
-    q.fromRotMat(afRBPtr->m_visualMesh->getLocalRot());
+    q.fromRotMat(afRBPtr->getLocalRot());
 
     // Update the Pose
     cVector3d localPos = afRBPtr->getLocalPos();