Fix transform lookup order in cloud2TransformedCloud function

Alpaca-zip · Feb 13, 2024 · dfbdb23 · dfbdb23
1 parent 2c82be9
commit dfbdb23
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/tracker_with_cloud_node.cpp b/src/tracker_with_cloud_node.cpp
@@ -176,7 +176,7 @@ TrackerWithCloudNode::cloud2TransformedCloud(const pcl::PointCloud<pcl::PointXYZ
 
   try
   {
-    geometry_msgs::TransformStamped tf = tf_buffer_->lookupTransform(source_frame, target_frame, stamp);
+    geometry_msgs::TransformStamped tf = tf_buffer_->lookupTransform(target_frame, source_frame, stamp);
     pcl_ros::transformPointCloud(*cloud, *transformed_cloud, tf.transform);
   }
   catch (tf2::TransformException& e)