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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_util/src/nodelets/point_cloud_aggregator.cpp
+2 -2
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@@ -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_);
}