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Merged
Q3rkses merged 2 commits into from
Apr 2, 2026
Merged

Update README.md #49

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85f72e5
Update README.md
Q3rkses Apr 2, 2026
e0a1a20
Update message_publisher.cpp
Q3rkses Apr 2, 2026
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4 changes: 2 additions & 2 deletions vortex_utility_nodes/README.md
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Expand Up @@ -7,7 +7,7 @@ These are standalone helper nodes not core pipeline components. Use them to insp

| Node | Description |
|------|-------------|
| `euler_odometry_publisher_node` | Subscribes to `odometry` (resolved from config) and publishes odometry pose in Euler angles (roll, pitch, yaw). |
| `message_publisher` | Subscribes to `odometry` (resolved from config) and publishes odometry pose in Euler angles (x, y, z, roll, pitch, yaw). |

## Build
```bash
Expand All @@ -17,7 +17,7 @@ source install/setup.bash

## Run
```bash
ros2 launch vortex_utility_nodes euler_odometry_publisher_node.launch.py
ros2 launch vortex_utility_nodes message_publisher.launch.py
```

## Adding New Nodes
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2 changes: 1 addition & 1 deletion vortex_utility_nodes/src/message_publisher.cpp
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Expand Up @@ -169,7 +169,7 @@ class MessagePublisherNode : public rclcpp::Node {
void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) {
const auto& q = msg->orientation;
auto euler = convert_quat(q.w, q.x, q.y, q.z);
publish_rpy(msg->header, euler);
publish_pose(msg->header, 0.0, 0.0, 0.0, euler);
}

using SubVariant = std::variant<
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