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update to tf3

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duongtd
2025-11-17 15:04:11 +07:00
parent 42840e3bbc
commit 0c61984d3e
12 changed files with 749 additions and 220 deletions
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8
plugins/obstacle_layer.cpp
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@@ -2,8 +2,8 @@
#include <costmap_2d/costmap_math.h>
#include <costmap_2d/utils.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <tf2/convert.h>
#include <tf2/utils.h>
#include <tf3/convert.h>
#include <tf3/utils.h>
#include <boost/dll/alias.hpp>
using costmap_2d::NO_INFORMATION;
@@ -154,7 +154,7 @@ void ObstacleLayer::laserScanCallback(const sensor_msgs::LaserScan& message,
{
projector_.transformLaserScanToPointCloud(message.header.frame_id, message, cloud, *tf_);
}
catch (tf2::TransformException &ex)
catch (tf3::TransformException &ex)
{
printf("High fidelity enabled, but TF returned a transform exception to frame %s: %s\n", global_frame_.c_str(),
ex.what());
@@ -197,7 +197,7 @@ void ObstacleLayer::laserScanValidInfCallback(const sensor_msgs::LaserScan& raw_
{
projector_.transformLaserScanToPointCloud(message.header.frame_id, message, cloud, *tf_);
}
catch (tf2::TransformException &ex)
catch (tf3::TransformException &ex)
{
printf("High fidelity enabled, but TF returned a transform exception to frame %s: %s\n",
global_frame_.c_str(), ex.what());