Transform of localization.twist

[InterKnight]

Thank you for this great job. I have a question when I reading transform_fushion.py

            localization.pose.pose = Pose(Point(*xyz), Quaternion(*quat))
            localization.twist = cur_odom.twist

It transform the pose, but did not transform the twist, can you tell me the reason? actually, I need the twist data, but i find it's all 0 Thank you every much!

[cyhasuka]

I encountered the same problem. I found that the twist data is imported by fast_lio's /Odometry, but the twist data is not calculated in fast_lio's /Odometry.