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Changes to build on ROS humble.

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This commit is contained in:
James Goppert
2022-07-25 22:41:10 -04:00
parent b81009b9f6
commit 97b5bb1785
8 changed files with 32 additions and 33 deletions
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src/MsgConversion.cpp
+1 -1
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@@ -2134,7 +2134,7 @@ bool convertScanMsg(
rtabmap::Transform tmpT = getTransform(
odomFrameId.empty()?frameId:odomFrameId,
scan2dMsg.header.frame_id,
rclcpp::Time(scan2dMsg.header.stamp.sec, scan2dMsg.header.stamp.nanosec) + rclcpp::Duration(scan2dMsg.ranges.size()*scan2dMsg.time_increment*10e9),
rclcpp::Time(scan2dMsg.header.stamp.sec, scan2dMsg.header.stamp.nanosec) + rclcpp::Duration::from_seconds(scan2dMsg.ranges.size()*scan2dMsg.time_increment*10e9),
tfBuffer,
waitForTransform);
if(tmpT.isNull())