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demo_hector_mapping.launch: when "hector" argument is false, icp_odometry is used

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matlabbe
2017-09-09 22:46:37 -04:00
parent bf17e7368f
commit db7118554d
7 changed files with 121 additions and 32 deletions
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src/OdometryROS.cpp
+1 -1
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@@ -533,7 +533,7 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
if(odomLocalScanMap_.getNumSubscribers() && !info.localScanMap.empty())
{
sensor_msgs::PointCloud2 cloudMsg;
if(info.localScanMap.channels() == 6)
if(info.localScanMap.channels() >= 5)
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud = util3d::laserScanToPointCloudNormal(info.localScanMap);
pcl::toROSMsg(*cloud, cloudMsg);