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merged master->ros2

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matlabbe
2024-01-03 18:11:16 -08:00
parent 2f365ab7e1
commit 80ae448d1b
14 changed files with 493 additions and 131 deletions
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rtabmap_util/src/nodelets/obstacles_detection.cpp
+1 -2
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/filters/filter.h>
#include <rtabmap/core/LocalGridMaker.h>
#include <rtabmap_conversions/MsgConversion.h>
@@ -85,8 +86,6 @@ ObstaclesDetection::ObstaclesDetection(const rclcpp::NodeOptions & options) :
cloudSub_ = create_subscription<sensor_msgs::msg::PointCloud2>("cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&ObstaclesDetection::callback, this, std::placeholders::_1));
}
void ObstaclesDetection::callback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg)
{
rclcpp::Time time = now();