omcandido / vrep_plugin_velodyne Goto Github PK

Hello,

your plugin is so useful that I really appreciate it to share such a good plugin, but I just want to change frame from globally to locally because I don't need to publish my velodyne_points globally

could you make a branch to share a local frame code?
or can you tell me what code snippets I have to change to use it locally?

Thanks in advance.

we can put

m[3] = 0;
m[7] = 0;
m[11] = 0;
mainSensTrInv[3] = 0;
mainSensTrInv[7] = 0; 
mainSensTrInv[11] = 0;

code before this code to make it locally.

m[3] = 0;
m[7] = 0;
m[11] = 0;
mainSensTrInv[3] = 0;
mainSensTrInv[7] = 0; 
mainSensTrInv[11] = 0;                  
simTransformVector(m,p); //directly relative to /odom (which in simulation is actually /map)

got hint from http://www.coppeliarobotics.com/helpFiles/en/regularApi/simTransformVector.htm