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fixed laser_geometry laser to point cloud stamp (including scanning time)

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matlabbe
2016-03-09 11:24:10 -05:00
parent 36f2838512
commit 26c656776c
1 changed files with 7 additions and 2 deletions
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src/CoreWrapper.cpp
+7 -2
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@@ -887,7 +887,9 @@ void CoreWrapper::commonDepthCallback(
if(scanMsg.get() != 0) if(scanMsg.get() != 0)
{ {
// make sure the frame of the laser is updated too // make sure the frame of the laser is updated too
if(getTransform(frameId_, scanMsg->header.frame_id, scanMsg->header.stamp).isNull()) if(getTransform(frameId_,
scanMsg->header.frame_id,
scanMsg->header.stamp + ros::Duration().fromSec(scanMsg->ranges.size()*scanMsg->time_increment)).isNull())
{ {
ROS_ERROR("TF of received laser scan topic at time %fs is not set, aborting rtabmap update.", scanMsg->header.stamp.toSec()); ROS_ERROR("TF of received laser scan topic at time %fs is not set, aborting rtabmap update.", scanMsg->header.stamp.toSec());
return; return;
@@ -998,8 +1000,11 @@ void CoreWrapper::commonStereoCallback(
if(scanMsg.get() != 0) if(scanMsg.get() != 0)
{ {
// make sure the frame of the laser is updated too // make sure the frame of the laser is updated too
if(getTransform(frameId_, scanMsg->header.frame_id, scanMsg->header.stamp).isNull()) if(getTransform(frameId_,
scanMsg->header.frame_id,
scanMsg->header.stamp + ros::Duration().fromSec(scanMsg->ranges.size()*scanMsg->time_increment)).isNull())
{ {
ROS_ERROR("TF of received laser scan topic at time %fs is not set, aborting rtabmap update.", scanMsg->header.stamp.toSec());
return; return;
} }