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Merge pull request #426 from blacksoul000/ros2

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Add tf pointers initialization
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matlabbe
2020-06-05 12:35:22 -04:00
committed by GitHub
parent 60cdacdba9 0594b96368
commit 377a35a2bd
1 changed files with 3 additions and 0 deletions
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src/nodelets/obstacles_detection.cpp
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@@ -75,6 +75,9 @@ ObstaclesDetection::ObstaclesDetection(const rclcpp::NodeOptions & options) :
grid_.parseParameters(gridParameters); grid_.parseParameters(gridParameters);
tfBuffer_ = std::make_shared< tf2_ros::Buffer >(this->get_clock());
tfListener_ = std::make_shared< tf2_ros::TransformListener >(*tfBuffer_);
cloudSub_ = create_subscription<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::SensorDataQoS(), std::bind(&ObstaclesDetection::callback, this, std::placeholders::_1)); cloudSub_ = create_subscription<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::SensorDataQoS(), std::bind(&ObstaclesDetection::callback, this, std::placeholders::_1));
groundPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("ground", 1); groundPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("ground", 1);