From 254217ea8ad9cb6dc0e40ef59af3faf789be5789 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Mon, 11 May 2020 15:41:24 +0200
Subject: [PATCH] refactored code
---
src/teaching/pose_tf_listener.cpp | 5 +----
1 file changed, 1 insertion(+), 4 deletions(-)
diff --git a/src/teaching/pose_tf_listener.cpp b/src/teaching/pose_tf_listener.cpp
index 35e5e1d..c871681 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.");
--
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