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Fixed build for upstream 0.16.1

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matlabbe
2018-02-16 20:00:32 -05:00
parent e3b2843d6f
commit 04b9abd1b9
12 changed files with 39 additions and 43 deletions
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src/OdometryROS.cpp
+2 -2
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@@ -595,10 +595,10 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
}
}
if(odomLocalScanMap_.getNumSubscribers() && !info.localScanMap.empty())
if(odomLocalScanMap_.getNumSubscribers() && !info.localScanMap.isEmpty())
{
sensor_msgs::PointCloud2 cloudMsg;
if(info.localScanMap.channels() >= 5)
if(info.localScanMap.hasNormals())
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud = util3d::laserScanToPointCloudNormal(info.localScanMap);
pcl::toROSMsg(*cloud, cloudMsg);