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merged master->ros2

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matlabbe
2024-05-27 12:37:39 -07:00
parent 655ab10fc8 86f91f3cec
commit 0dc233c840
14 changed files with 89 additions and 39 deletions
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rtabmap_odom/src/RGBDOdometryNode.cpp
+6
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@@ -27,6 +27,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_odom/rgbd_odometry.hpp"
#include "rclcpp/rclcpp.hpp"
#ifdef RTABMAP_PYTHON
#include <rtabmap/core/PythonInterface.h>
#endif
int main(int argc, char **argv)
@@ -67,6 +70,9 @@ int main(int argc, char **argv)
arguments.push_back(argv[i]);
}
#ifdef RTABMAP_PYTHON
rtabmap::PythonInterface pythonInterface;
#endif
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
options.arguments(arguments);
rtabmap_odom/src/StereoOdometryNode.cpp
+6
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@@ -27,6 +27,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_odom/stereo_odometry.hpp"
#include "rclcpp/rclcpp.hpp"
#ifdef RTABMAP_PYTHON
#include <rtabmap/core/PythonInterface.h>
#endif
int main(int argc, char **argv)
{
@@ -67,6 +70,9 @@ int main(int argc, char **argv)
}
#ifdef RTABMAP_PYTHON
rtabmap::PythonInterface pythonInterface;
#endif
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
options.arguments(arguments);
rtabmap_odom/src/nodelets/icp_odometry.cpp
+1 -1
View File
@@ -300,7 +300,7 @@ void ICPOdometry::callbackScan(const sensor_msgs::msg::LaserScan::SharedPtr scan
if(deskewing_ && (!guessFrameId().empty() || (frameId().compare(scanMsg->header.frame_id) != 0)))
{
// make sure the frame of the laser is updated during the whole scan time
rtabmap::Transform tmpT = rtabmap_conversions::getTransform(
rtabmap::Transform tmpT = rtabmap_conversions::getMovingTransform(
scanMsg->header.frame_id,
guessFrameId().empty()?frameId():guessFrameId(),
scanMsg->header.stamp,