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Merge branch 'ros2' of github.com:introlab/rtabmap_ros into jazzy-devel

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matlabbe
2024-05-27 12:47:43 -07:00
parent e874413a5c 0dc233c840
commit 9ab0f93835
14 changed files with 89 additions and 39 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+2 -2
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@@ -1944,11 +1944,11 @@ void CoreWrapper::process(
globalPose *= sensorToBase; // transform global pose from sensor frame to robot base frame
// Correction of the global pose accounting the odometry movement since we received it
Transform correction = rtabmap_conversions::getTransform(
Transform correction = rtabmap_conversions::getMovingTransform(
frameId_,
odomFrameId,
rclcpp::Time(globalPose_.header.stamp.sec, globalPose_.header.stamp.nanosec),
lastPoseStamp_,
rclcpp::Time(globalPose_.header.stamp.sec, globalPose_.header.stamp.nanosec),
*tfBuffer_,
waitForTransform_);
if(!correction.isNull())