{"action":"created","comment":{"url":"https://api.github.com/repos/uf-mil/Navigator/pulls/comments/86634923","pull_request_review_id":7287010,"id":86634923,"diff_hunk":"@@ -1,18 +1,18 @@\n <launch>\n-    <node pkg=\"tf\" type=\"static_transform_publisher\" name=\"measure_point_tf\" args=\"1.2319 0 0  0 0 0 1  /base_link /measurement 100\" /> <!-- Very front center of top part -->\n+    <node pkg=\"tf\" type=\"static_transform_publisher\" name=\"measure_point_tf\" args=\"1.2319 0 0  0 0 0 1  /base_link /measurement 10\" /> <!-- Very front center of top part -->\n     <node pkg=\"tf\" type=\"static_transform_publisher\" name=\"ins_tf\" args=\"-0.652272 0.136525 0.192278  0 0 0 1  /measurement /ins 10\" />\n     \n     <!-- LIDAR -->\n-    <node pkg=\"tf\" type=\"static_transform_publisher\" name=\"lidar_tf\" args=\"-0.277622 0 0.648208 0 0 0 1  /measurement /velodyne 100\" />\n-    <node pkg=\"tf\" type=\"static_transform_publisher\" name=\"sick_tf\" args=\"0.5334 -0.0254 -0.6858  0 0 0 1  /measurement /sick 100\" />\n+    <node pkg=\"tf\" type=\"static_transform_publisher\" name=\"lidar_tf\" args=\"-0.277622 0 0.648208 0 0 0 1  /measurement /velodyne 10\" />\n+    <node pkg=\"tf\" type=\"static_transform_publisher\" name=\"sick_tf\" args=\"0.5334 -0.0254 -0.6858  0 0 0 1  /measurement /sick 10\" />\n \n     <!-- Cameras -->\n-    <node pkg=\"tf\" type=\"static_transform_publisher\" name=\"stereo_tf\" args=\"0.017272 -0.100076 0.19812 0.56679 -0.56679 0.42278 -0.42278 /measurement /stereo_front 100\" />","path":"mission_control/navigator_launch/launch/subsystems/tf.launch","position":13,"original_position":13,"commit_id":"d73d986d789bc948dc1fa6e51e38b74cebc78e4d","original_commit_id":"d73d986d789bc948dc1fa6e51e38b74cebc78e4d","user":{"login":"mattlangford","id":10998371,"avatar_url":"https://avatars.githubusercontent.com/u/10998371?v=3","gravatar_id":"","url":"https://api.github.com/users/mattlangford","html_url":"https://github.com/mattlangford","followers_url":"https://api.github.com/users/mattlangford/followers","following_url":"https://api.github.com/users/mattlangford/following{/other_user}","gists_url":"https://api.github.com/users/mattlangford/gists{/gist_id}","starred_url":"https://api.github.com/users/mattlangford/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mattlangford/subscriptions","organizations_url":"https://api.github.com/users/mattlangford/orgs","repos_url":"https://api.github.com/users/mattlangford/repos","events_url":"https://api.github.com/users/mattlangford/events{/privacy}","received_events_url":"https://api.github.com/users/mattlangford/received_events","type":"User","site_admin":false},"body":"@DSsoto chose to remove stereo_tf frame and position each camera individually since fudging their TF as a group gave us subpar results (meaning measurements are not perfect, or the cameras don't sit in the same spot in the tube)","created_at":"2016-11-04T21:22:29Z","updated_at":"2016-11-04T21:22:29Z","html_url":"https://github.com/uf-mil/Navigator/pull/119#discussion_r86634923","pull_request_url":"https://api.github.com/repos/uf-mil/Navigator/pulls/119","_links":{"self":{"href":"https://api.github.com/repos/uf-mil/Navigator/pulls/comments/86634923"},"html":{"href":"https://github.com/uf-mil/Navigator/pull/119#discussion_r86634923"},"pull_request":{"href":"https://api.github.com/repos/uf-mil/Navigator/pulls/119"}}},"pull_request":{"url":"https://api.github.com/repos/uf-mil/Navigator/pulls/119","id":92357416,"html_url":"https://github.com/uf-mil/Navigator/pull/119","diff_url":"https://github.com/uf-mil/Navigator/pull/119.diff","patch_url":"https://github.com/uf-mil/Navigator/pull/119.patch","issue_url":"https://api.github.com/repos/uf-mil/Navigator/issues/119","number":119,"state":"open","locked":false,"title":"Lake day 10-30","user":{"login":"mattlangford","id":10998371,"avatar_url":"https://avatars.githubusercontent.com/u/10998371?v=3","gravatar_id":"","url":"https://api.github.com/users/mattlangford","html_url":"https://github.com/mattlangford","followers_url":"https://api.github.com/users/mattlangford/followers","following_url":"https://api.github.com/users/mattlangford/following{/other_user}","gists_url":"https://api.github.com/users/mattlangford/gists{/gist_id}","starred_url":"https://api.github.com/users/mattlangford/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mattlangford/subscriptions","organizations_url":"https://api.github.com/users/mattlangford/orgs","repos_url":"https://api.github.com/users/mattlangford/repos","events_url":"https://api.github.com/users/mattlangford/events{/privacy}","received_events_url":"https://api.github.com/users/mattlangford/received_events","type":"User","site_admin":false},"body":"Changes David and I made on lakeday. 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