Aj/more fixes (#71)

* Make wait a bit longer to set mavros sim time to ensure node is up * Fix map_FLU-->map static tf
castacks · Oct 2, 2024 · 2fef687 · 2fef687
1 parent 14c4719
commit 2fef687
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diff --git a/docker/extras/drag_and_drop/ascent_sitl.yaml b/docker/extras/drag_and_drop/ascent_sitl.yaml
@@ -16,6 +16,6 @@ windows:
         - export ROS_DOMAIN_ID=$DOMAIN_ID
         - ros2 launch mavros apm.launch fcu_url:="udp://127.0.0.1:$AUTONOMY_STACK_PORT@$MAVROS_LAUNCH_PORT" namespace:=$NAMESPACE/interface/mavros
       - shell_command:
-        - sleep 5.5
+        - sleep 7
         - export ROS_DOMAIN_ID=$DOMAIN_ID
         - ros2 param set $NAMESPACE/interface/mavros/mavros use_sim_time true
diff --git a/ros_ws/src/robot/robot_bringup/launch/static_transforms.launch.xml b/ros_ws/src/robot/robot_bringup/launch/static_transforms.launch.xml
@@ -4,7 +4,7 @@
         pkg="tf2_ros"
         exec="static_transform_publisher"
         name="static_transform_publisher"
-        args="0 0 0 1.57079632679 0 0 map_FLU map" />
+        args="0 0 0 -1.57079632679 0 0 map_FLU map" />
 
     <!-- Robot TFs -->
     <!-- currently none -->