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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/nodelets/icp_odometry.cpp
+1 -1
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@@ -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,