udpdate

2025-12-25 11:04:24 +07:00
parent 3c728db668
commit a9a2445305
29 changed files with 228 additions and 102 deletions
--- a/examples/NavigationExample/Program.cs
+++ b/examples/NavigationExample/Program.cs
@@ -287,7 +287,16 @@ namespace NavigationExample
                return;
            }

-                        if (!NavigationAPI.tf_listener_set_static_transform(tfHandle, "odom", "base_link",
+            if (!NavigationAPI.tf_listener_set_static_transform(tfHandle, "odom", "base_footprint",
+                                                               0, 0, 0,
+                                                               0, 0, 0, 1))
+            {
+                LogError("Failed to inject static TF map -> base_link");
+                NavigationAPI.tf_listener_destroy(tfHandle);
+                return;
+            }
+
+            if (!NavigationAPI.tf_listener_set_static_transform(tfHandle, "base_footprint", "base_link",
                                                               0, 0, 0,
                                                               0, 0, 0, 1))
            {
--- a/examples/NavigationExample/libnav_c_api.so
+++ b/examples/NavigationExample/libnav_c_api.so