{"action":"created","comment":{"url":"https://api.github.com/repos/severin-lemaignan/ros-qml-plugin/pulls/comments/112451578","pull_request_review_id":33765698,"id":112451578,"diff_hunk":"@@ -98,9 +98,12 @@ void RosPosePublisher::setFrame(QString frame)\n void RosPosePublisher::publish(){\n     double x,y, theta;\n     if (_origin) {\n-        x = _origin->mapToItem(_target,QPoint(0,0)).x() * _pixel2meter;\n-        y = _origin->mapToItem(_target,QPoint(0,0)).y() * _pixel2meter;\n+        x = _origin->mapFromItem(_target,QPoint(0,0)).x() * _pixel2meter;\n+        y = - _origin->mapFromItem(_target,QPoint(0,0)).y() * _pixel2meter;\n         theta = (_target->rotation() - _origin->rotation()) * M_PI/180;\n+        cout <<\"origin \"<<_origin->x() * _pixel2meter<<\" \"<<_origin->y() * _pixel2meter<<endl;\n+        cout <<\"target \"<<_target->x() * _pixel2meter<<\" \"<<_target->y() * _pixel2meter<<endl;\n+        cout <<\"mapped \"<<x<< \" \" << y<<endl;","path":"src/ros.cpp","position":null,"original_position":11,"commit_id":"a88375da912be84bf1904a88a03023b9295e8044","original_commit_id":"ef2a124e3a6cb42e7af442133af87ed69686b28d","user":{"login":"severin-lemaignan","id":385379,"avatar_url":"https://avatars3.githubusercontent.com/u/385379?v=3","gravatar_id":"","url":"https://api.github.com/users/severin-lemaignan","html_url":"https://github.com/severin-lemaignan","followers_url":"https://api.github.com/users/severin-lemaignan/followers","following_url":"https://api.github.com/users/severin-lemaignan/following{/other_user}","gists_url":"https://api.github.com/users/severin-lemaignan/gists{/gist_id}","starred_url":"https://api.github.com/users/severin-lemaignan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/severin-lemaignan/subscriptions","organizations_url":"https://api.github.com/users/severin-lemaignan/orgs","repos_url":"https://api.github.com/users/severin-lemaignan/repos","events_url":"https://api.github.com/users/severin-lemaignan/events{/privacy}","received_events_url":"https://api.github.com/users/severin-lemaignan/received_events","type":"User","site_admin":false},"body":"Please no `cout`... use ROS logging if output is really needed (but I believe it is not in this 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