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icp_odom: Fixed scan without stamps field after projecting to point cloud before deskewing

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matlabbe
2023-11-26 19:23:37 -08:00
parent 8129ace10a
commit e3452e1962
2 changed files with 7 additions and 0 deletions
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rtabmap_conversions/src/MsgConversion.cpp
+6
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@@ -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)