diff --git a/src/teaching/pose_tf_listener.cpp b/src/teaching/pose_tf_listener.cpp index 35e5e1d5609c49a8c39c5aa5c0f144bb79d2d132..c871681912d01c9167ec155f16e3f7f4acda1e17 100644 --- a/src/teaching/pose_tf_listener.cpp +++ b/src/teaching/pose_tf_listener.cpp @@ -17,10 +17,7 @@ void collect(ros::NodeHandle node_handle, geometry_msgs::TransformStamped t) { srv.request.pose.position.y = t.transform.translation.y; srv.request.pose.position.z = t.transform.translation.z; - srv.request.pose.orientation.x = t.transform.rotation.x; - srv.request.pose.orientation.y = t.transform.rotation.y; - srv.request.pose.orientation.z = t.transform.rotation.z; - srv.request.pose.orientation.w = t.transform.rotation.w; + srv.request.pose.orientation = t.transform.rotation; if (!client.call(srv)) { ROS_ERROR("Failed to call pose_storage_service.");