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Updated with upstream changes

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This commit is contained in:
matlabbe
2023-12-17 22:46:23 -08:00
parent e2b70a6707
commit 2f365ab7e1
5 changed files with 57 additions and 134 deletions
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rtabmap_util/src/nodelets/obstacles_detection.cpp
+2 -2
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@@ -73,7 +73,7 @@ ObstaclesDetection::ObstaclesDetection(const rclcpp::NodeOptions & options) :
RCLCPP_ERROR(this->get_logger(), "obstacles_detection: Parameter \"%s\" is true but map_frame_id is not set!", rtabmap::Parameters::kGridMapFrameProjection().c_str());
}
grid_.parseParameters(gridParameters);
localMapMaker_.parseParameters(gridParameters);
tfBuffer_ = std::make_shared< tf2_ros::Buffer >(this->get_clock());
tfListener_ = std::make_shared< tf2_ros::TransformListener >(*tfBuffer_);
@@ -149,7 +149,7 @@ void ObstaclesDetection::callback(const sensor_msgs::msg::PointCloud2::ConstShar
inputCloud = rtabmap::util3d::transformPointCloud(inputCloud, localTransform);
pcl::IndicesPtr flatObstacles(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = grid_.segmentCloud<pcl::PointXYZ>(
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = localMapMaker_.segmentCloud<pcl::PointXYZ>(
inputCloud,
pcl::IndicesPtr(new std::vector<int>),
pose,