From e3452e1962c395ac2098a31af516e25347670b7e Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sun, 26 Nov 2023 19:23:37 -0800
Subject: [PATCH] icp_odom: Fixed scan without stamps field after projecting to
 point cloud before deskewing

---
 rtabmap_conversions/src/MsgConversion.cpp  | 6 ++++++
 rtabmap_odom/src/nodelets/icp_odometry.cpp | 1 +
 2 files changed, 7 insertions(+)

diff --git a/rtabmap_conversions/src/MsgConversion.cpp b/rtabmap_conversions/src/MsgConversion.cpp
index 3b586c38..33236c93 100644
--- a/rtabmap_conversions/src/MsgConversion.cpp
+++ b/rtabmap_conversions/src/MsgConversion.cpp
@@ -2853,6 +2853,12 @@ bool deskew_impl(
 	if(offsetTime < 0)
 	{
 		ROS_ERROR("Input cloud doesn't have \"t\", \"time\", \"stamps\" or \"timestamp\" field!");
+		std::string fieldsReceived;
+		for(size_t i=0; i<input.fields.size(); ++i)
+		{
+			fieldsReceived += input.fields[i].name + " ";
+		}
+		ROS_ERROR("Input cloud has these fields: %s", fieldsReceived.c_str());
 		return false;
 	}
 	if(offsetX < 0)
diff --git a/rtabmap_odom/src/nodelets/icp_odometry.cpp b/rtabmap_odom/src/nodelets/icp_odometry.cpp
index 2feabe0a..231eba8f 100644
--- a/rtabmap_odom/src/nodelets/icp_odometry.cpp
+++ b/rtabmap_odom/src/nodelets/icp_odometry.cpp
@@ -377,6 +377,7 @@ private:
 					*scanMsg, 
 					scanOut,
 					this->tfListener(),
+					-1.0,
 					laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Timestamp);
 
 			if(guessFrameId().empty() && previousStamp() > 0 && !velocityGuess().isNull())