modify node name for get_local_pose
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@ -20,7 +20,7 @@ def odm_groundtruth_callback(msg, i):
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multi_speed[i].vector = msg.twist.twist.linear
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multi_speed[i].vector = msg.twist.twist.linear
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if __name__ == '__main__':
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if __name__ == '__main__':
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rospy.init_node(vehicle_type+'get_pose_groundtruth')
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rospy.init_node(vehicle_type+'_get_pose_groundtruth')
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for i in range(vehicle_num):
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for i in range(vehicle_num):
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multi_odom_groundtruth_sub[i] = rospy.Subscriber('/xtdrone/'+vehicle_type+'_'+str(i)+'/ground_truth/odom', Odometry, odm_groundtruth_callback, i)
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multi_odom_groundtruth_sub[i] = rospy.Subscriber('/xtdrone/'+vehicle_type+'_'+str(i)+'/ground_truth/odom', Odometry, odm_groundtruth_callback, i)
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multi_pose_pub[i] = rospy.Publisher(vehicle_type+'_'+str(i)+'/mavros/vision_pose/pose', PoseStamped, queue_size=2)
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multi_pose_pub[i] = rospy.Publisher(vehicle_type+'_'+str(i)+'/mavros/vision_pose/pose', PoseStamped, queue_size=2)
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