Issue #6: Updates the visualization

- Adjusts the visualization of the route to match the coordinate system of Carla (left-handed.)
StanfordMSL · Oct 21, 2020 · 17f6df7 · 17f6df7
1 parent 9442541
commit 17f6df7
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/script/visualization_classes.py b/script/visualization_classes.py
@@ -135,9 +135,9 @@ def ego_track_cb(self, msg):
 
         for i in range(len(msg.poses)-2):
             pos_x = msg.poses[i].pose.position.x
-            pos_y = msg.poses[i].pose.position.y
+            pos_y = -msg.poses[i].pose.position.y
             pos_x_n = msg.poses[i+1].pose.position.x
-            pos_y_n = msg.poses[i+1].pose.position.y
+            pos_y_n = -msg.poses[i+1].pose.position.y
             yaw = np.arctan2(pos_y_n - pos_y, pos_x_n - pos_x)
 
             mk = Marker()