merged master->ros2

rtabmap_util/src/nodelets/lidar_deskewing.cpp

@@ -51,7 +51,7 @@ LidarDeskewing::~LidarDeskewing()
 void LidarDeskewing::callbackScan(const sensor_msgs::msg::LaserScan::ConstSharedPtr msg)
 {
 	// 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(
 			msg->header.frame_id,
 			fixedFrameId_,
 			msg->header.stamp,

rtabmap_util/src/nodelets/point_cloud_aggregator.cpp

@@ -289,11 +289,11 @@ void PointCloudAggregator::combineClouds(const std::vector<sensor_msgs::msg::Poi
 			   cloudMsgs[0]->header.stamp != cloudMsgs[i]->header.stamp)
 			{
 				// approx sync
-				cloudDisplacement = rtabmap_conversions::getTransform(
+				cloudDisplacement = rtabmap_conversions::getMovingTransform(
 						frameId, //sourceTargetFrame
 						fixedFrameId_, //fixedFrame
-						cloudMsgs[i]->header.stamp, //stampSource
 						cloudMsgs[0]->header.stamp, //stampTarget
+						cloudMsgs[i]->header.stamp, //stampSource
 						*tfBuffer_,
 						waitForTransform_);
 			}

rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp

@@ -138,11 +138,11 @@ void PointCloudToDepthImage::callback(
 		if(!fixedFrameId_.empty())
 		{
 			// approx sync
-			cloudDisplacement = rtabmap_conversions::getTransform(
+			cloudDisplacement = rtabmap_conversions::getMovingTransform(
 					pointCloud2Msg->header.frame_id,
 					fixedFrameId_,
-					cameraInfoMsg->header.stamp,
 					pointCloud2Msg->header.stamp,
+					cameraInfoMsg->header.stamp,
 					*tfBuffer_,
 					waitForTransform_);
 		}