Fix axis names.

diff --git a/launch/display.launch b/launch/display.launch
index 867b2c9..075783a 100644 (file)
--- a/launch/display.launch
+++ b/launch/display.launch
@@ -2,7 +2,7 @@
        <include file="$(find bno055_driver)/launch/bno055.launch"/>
        <node pkg="tf2_ros" type="static_transform_publisher" 
                name="imu_origin_publisher"
-               args="0 0 0 0 0 0 1 map imu_link" />
+               args="0 0 0 0 0 0 1 map base_link" />
        <node pkg="imu_odometry" type="imu2tf" name="imu2tf" args="base_link"  output="screen" >
                <rosparam param="translation">[0.0, 0.0, 0.0]</rosparam>
        </node>

diff --git a/rviz/display.rviz b/rviz/display.rviz
index 3b00f73..3bc3bd4 100644 (file)
--- a/rviz/display.rviz
+++ b/rviz/display.rviz
@@ -78,7 +78,7 @@ Visualization Manager:
       Length: 5
       Name: Axes (base_link)
       Radius: 0.10000000149011612
-      Reference Frame: base_link
+      Reference Frame: imu_link
       Value: true
     - Alpha: 0.30000001192092896
       Autocompute Intensity Bounds: false
@@ -135,16 +135,16 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 31.31101417541504
+      Distance: 24.478668212890625
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.07251755893230438
-        Y: -0.0821044072508812
-        Z: 0.10933426022529602
+        X: -1.5147979259490967
+        Y: -1.228423833847046
+        Z: 1.93975031375885
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
@@ -161,7 +161,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001be000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000002b6000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055c0000003efc0100000002fb0000000800540069006d006501000000000000055c0000024200fffffffb0000000800540069006d00650100000000000004500000000000000000000002920000020d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001ba000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000002b6000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055c0000003efc0100000002fb0000000800540069006d006501000000000000055c0000024200fffffffb0000000800540069006d0065010000000000000450000000000000000000000296000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -171,5 +171,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1372
-  X: 16
+  X: 8
   Y: 0