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refactored deskewing, removed duplicated getTransform from OdometryROS, added scan_cloud_is_2d parameter for icp_odometry and rtabmap nodes (to consider input Pointcloud2 as a laser scan).

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matlabbe
2022-12-12 22:19:40 -08:00
parent d9996a03f8
commit d09faa9385
11 changed files with 173 additions and 93 deletions
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src/nodelets/rgbd_odometry.cpp
+1 -1
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@@ -450,7 +450,7 @@ private:
higherStamp = stamp;
}
Transform localTransform = getTransform(this->frameId(), rgbImages[i]->header.frame_id, stamp);
Transform localTransform = getTransform(this->frameId(), rgbImages[i]->header.frame_id, stamp, this->tfListener(), this->waitForTransformDuration());
if(localTransform.isNull())
{
return;