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merged master -> ros2

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matlabbe
2024-07-21 16:29:49 -07:00
parent 57dd787a58 a97efff760
commit 3aacddb3d6
5 changed files with 133 additions and 116 deletions
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rtabmap_conversions/src/MsgConversion.cpp
+18
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@@ -2593,6 +2593,24 @@ bool convertScanMsg(
double waitForTransform,
bool outputInFrameId)
{
// scan message validation check
if(scan2dMsg.angle_increment == 0.0f) {
UERROR("convertScanMsg: angle_increment should not be 0!");
return false;
}
if(scan2dMsg.range_min > scan2dMsg.range_max) {
UERROR("convertScanMsg: range_min (%f) should be smaller than range_max (%f)!", scan2dMsg.range_min, scan2dMsg.range_max);
return false;
}
if(scan2dMsg.angle_increment > 0 && scan2dMsg.angle_max < scan2dMsg.angle_min) {
UERROR("convertScanMsg: Angle increment (%f) should be negative if angle_min(%f) > angle_max(%f)!", scan2dMsg.angle_increment, scan2dMsg.angle_min, scan2dMsg.angle_max);
return false;
}
else if (scan2dMsg.angle_increment < 0 && scan2dMsg.angle_max > scan2dMsg.angle_min) {
UERROR("convertScanMsg: Angle increment (%f) should positive if angle_min(%f) < angle_max(%f)!", scan2dMsg.angle_increment, scan2dMsg.angle_min, scan2dMsg.angle_max);
return false;
}
// make sure the frame of the laser is updated during the whole scan time
rtabmap::Transform tmpT = getMovingTransform(
scan2dMsg.header.frame_id,