delete imu tf
@@ -216,17 +216,6 @@ void publishImuMsg(void)
mag_pub.publish(&mag_msg);
imu_pub.publish(&imu_msg);
-
- imu_tf.header.stamp = rosNow();
- imu_tf.header.frame_id = "base_link";
- imu_tf.child_frame_id = "imu_link";
-
- imu_tf.transform.translation.x = IMU_POS_X;
- imu_tf.transform.translation.y = IMU_POS_Y;
- imu_tf.transform.translation.z = IMU_POS_Z;
- imu_tf.transform.rotation = imu_msg.orientation;
-
- tf_broadcaster.sendTransform(imu_tf);
}
/*******************************************************************************
