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Updated OdomInfo to use guess instead of deprecated guessVelocity

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matlabbe
2021-03-13 19:18:03 -05:00
parent e9e140af1f
commit d586a8f087
2 changed files with 3 additions and 3 deletions
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src/MsgConversion.cpp
+2 -2
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@@ -1429,7 +1429,7 @@ rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg)
info.transform = transformFromGeometryMsg(msg.transform);
info.transformFiltered = transformFromGeometryMsg(msg.transformFiltered);
info.transformGroundTruth = transformFromGeometryMsg(msg.transformGroundTruth);
info.guessVelocity = transformFromGeometryMsg(msg.guessVelocity);
info.guess = transformFromGeometryMsg(msg.guess);
UASSERT(msg.localMapKeys.size() == msg.localMapValues.size());
for(unsigned int i=0; i<msg.localMapKeys.size(); ++i)
@@ -1488,7 +1488,7 @@ void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & m
transformToGeometryMsg(info.transform, msg.transform);
transformToGeometryMsg(info.transformFiltered, msg.transformFiltered);
transformToGeometryMsg(info.transformGroundTruth, msg.transformGroundTruth);
transformToGeometryMsg(info.guessVelocity, msg.guessVelocity);
transformToGeometryMsg(info.guess, msg.guess);
msg.localMapKeys = uKeys(info.localMap);
points3fToROS(uValues(info.localMap), msg.localMapValues);