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camera info conversion from ROS: detect null K R P correctly (#1448)

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* camera info conversion from ROS:  detect null K R P correctly

* Updated deskew based on ros2 tests

* clenup ros1 main page and ci job name
This commit is contained in:
matlabbe
2026-09-07 21:14:33 -07:00
committed by GitHub
parent 38b45dca16
commit b0a773e1f6
5 changed files with 98 additions and 63 deletions
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rtabmap_odom/src/nodelets/icp_odometry.cpp
+3 -3
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@@ -396,7 +396,7 @@ private:
{
// deskew with constant velocity model (we are in frameId)
sensor_msgs::PointCloud2 scanOutDeskewed;
if(!rtabmap_conversions::deskew(scanOut, scanOutDeskewed, previousStamp().toSec(), velocityGuess()))
if(!rtabmap_conversions::deskew(scanOut, scanOutDeskewed, velocityGuess()))
{
ROS_ERROR("Failed to deskew input cloud, aborting odometry update!");
return;
@@ -421,7 +421,7 @@ private:
{
// deskew with constant velocity model
sensor_msgs::PointCloud2 scanOutDeskewed;
if(!rtabmap_conversions::deskew(scanOut, scanOutDeskewed, previousStamp().toSec(), velocityGuess()))
if(!rtabmap_conversions::deskew(scanOut, scanOutDeskewed, velocityGuess()))
{
ROS_ERROR("Failed to deskew input cloud, aborting odometry update!");
return;
@@ -660,7 +660,7 @@ private:
}
sensor_msgs::PointCloud2::Ptr cloudDeskewed(new sensor_msgs::PointCloud2);
if(!rtabmap_conversions::deskew(*cloudPtr, *cloudDeskewed, previousStamp().toSec(), velocityGuess()))
if(!rtabmap_conversions::deskew(*cloudPtr, *cloudDeskewed, velocityGuess()))
{
ROS_ERROR("Failed to deskew input cloud, aborting odometry update!");
return;