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merged master -> ros2

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matlabbe
2023-03-04 17:21:00 -08:00
parent 580b0c57dc f2714c8b2a
commit c0e4927f88
10 changed files with 144 additions and 152 deletions
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rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h
+14 -14
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@@ -266,6 +266,20 @@ bool convertScan3dMsg(
float maxRange = 0.0f,
bool is2D = false);
bool deskew(
const sensor_msgs::msg::PointCloud2 & input,
sensor_msgs::msg::PointCloud2 & output,
const std::string & fixedFrameId,
tf2_ros::Buffer & tfBuffer,
double waitForTransform,
bool slerp = false);
bool deskew(
const sensor_msgs::msg::PointCloud2 & input,
sensor_msgs::msg::PointCloud2 & output,
double previousStamp,
const rtabmap::Transform & velocity);
// Missing function in ros2 (from old pcl_ros)
void transformPointCloud (
const Eigen::Matrix4f &transform,
@@ -295,20 +309,6 @@ inline int sizeOfPointField(int datatype)
}
return -1;
}
bool deskew(
const sensor_msgs::msg::PointCloud2 & input,
sensor_msgs::msg::PointCloud2 & output,
const std::string & fixedFrameId,
tf2_ros::Buffer & tfBuffer,
double waitForTransform,
bool slerp = false);
bool deskew(
const sensor_msgs::msg::PointCloud2 & input,
sensor_msgs::msg::PointCloud2 & output,
double previousStamp,
const rtabmap::Transform & velocity);
}
#endif /* MSGCONVERSION_H_ */