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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_odom/src/nodelets/icp_odometry.cpp
+1
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@@ -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())