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Fixed ros2 build with latest rtabmap library (#544)

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This commit is contained in:
matlabbe
2021-03-02 16:42:08 +00:00
parent 8ef6cff877
commit 688584db65
4 changed files with 12 additions and 11 deletions
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src/MsgConversion.cpp
+2 -2
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@@ -1738,7 +1738,7 @@ bool convertScanMsg(
pcl::PointCloud<pcl::PointXYZI>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZI>);
pcl::fromROSMsg(scanOut, *pclScan);
pclScan->is_dense = true;
data = rtabmap::util3d::laserScan2dFromPointCloud(*pclScan, laserToOdom); // put back in laser frame
data = rtabmap::util3d::laserScan2dFromPointCloud(*pclScan, laserToOdom).data(); // put back in laser frame
format = rtabmap::LaserScan::kXYI;
}
else
@@ -1746,7 +1746,7 @@ bool convertScanMsg(
pcl::PointCloud<pcl::PointXYZ>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromROSMsg(scanOut, *pclScan);
pclScan->is_dense = true;
data = rtabmap::util3d::laserScan2dFromPointCloud(*pclScan, laserToOdom); // put back in laser frame
data = rtabmap::util3d::laserScan2dFromPointCloud(*pclScan, laserToOdom).data(); // put back in laser frame
format = rtabmap::LaserScan::kXY;
}