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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/nodelets/icp_odometry.cpp
+5 -5
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@@ -285,7 +285,7 @@ void ICPOdometry::callbackScan(const sensor_msgs::msg::LaserScan::SharedPtr scan
}
pcl::PointCloud<pcl::PointNormal>::Ptr pclScanNormal(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*pclScan, *normals, *pclScanNormal);
scan = util3d::laserScan2dFromPointCloud(*pclScanNormal);
scan = util3d::laserScan2dFromPointCloud(*pclScanNormal).data();
if(filtered_scan_pub_->get_subscription_count())
{
@@ -297,7 +297,7 @@ void ICPOdometry::callbackScan(const sensor_msgs::msg::LaserScan::SharedPtr scan
}
else
{
scan = util3d::laserScan2dFromPointCloud(*pclScan);
scan = util3d::laserScan2dFromPointCloud(*pclScan).data();
if(filtered_scan_pub_->get_subscription_count())
{
@@ -390,7 +390,7 @@ void ICPOdometry::callbackCloud(const sensor_msgs::msg::PointCloud2::SharedPtr p
pclScan = util3d::downsample(pclScan, scanDownsamplingStep_);
maxLaserScans /= scanDownsamplingStep_;
}
scan = util3d::laserScanFromPointCloud(*pclScan);
scan = util3d::laserScanFromPointCloud(*pclScan).data();
if(filtered_scan_pub_->get_subscription_count())
{
sensor_msgs::msg::PointCloud2::UniquePtr msg(new sensor_msgs::msg::PointCloud2);
@@ -428,7 +428,7 @@ void ICPOdometry::callbackCloud(const sensor_msgs::msg::PointCloud2::SharedPtr p
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(pclScan, scanNormalK_, scanNormalRadius_);
pcl::PointCloud<pcl::PointNormal>::Ptr pclScanNormal(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*pclScan, *normals, *pclScanNormal);
scan = util3d::laserScanFromPointCloud(*pclScanNormal);
scan = util3d::laserScanFromPointCloud(*pclScanNormal).data();
if(filtered_scan_pub_->get_subscription_count())
{
@@ -440,7 +440,7 @@ void ICPOdometry::callbackCloud(const sensor_msgs::msg::PointCloud2::SharedPtr p
}
else
{
scan = util3d::laserScanFromPointCloud(*pclScan);
scan = util3d::laserScanFromPointCloud(*pclScan).data();
if(filtered_scan_pub_->get_subscription_count())
{