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HiepLM update

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HiepLM
2025-12-30 09:08:14 +07:00
parent 71adf1390f
commit 2c3d7d586d
23 changed files with 117 additions and 117 deletions
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8
src/observation_buffer.cpp
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@@ -65,7 +65,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
tf3::Time transform_time = tf3::Time::now();
std::string tf_error;
geometry_msgs::TransformStamped transformStamped;
robot_geometry_msgs::TransformStamped transformStamped;
if (!tf3_buffer_.canTransform(new_global_frame, global_frame_, transform_time, &tf_error))
{
printf("Transform between %s and %s with tolerance %.2f failed: %s.\n", new_global_frame.c_str(),
@@ -80,7 +80,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
{
Observation& obs = *obs_it;
geometry_msgs::PointStamped origin;
robot_geometry_msgs::PointStamped origin;
origin.header.frame_id = global_frame_;
origin.header.stamp = data_convert::convertTime(transform_time);
origin.point = obs.origin_;
@@ -119,7 +119,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
void ObservationBuffer::bufferCloud(const sensor_msgs::PointCloud2& cloud)
{
geometry_msgs::PointStamped global_origin;
robot_geometry_msgs::PointStamped global_origin;
// create a new observation on the list to be populated
observation_list_.push_front(Observation());
@@ -130,7 +130,7 @@ void ObservationBuffer::bufferCloud(const sensor_msgs::PointCloud2& cloud)
try
{
// given these observations come from sensors... we'll need to store the origin pt of the sensor
geometry_msgs::PointStamped local_origin;
robot_geometry_msgs::PointStamped local_origin;
local_origin.header.stamp = cloud.header.stamp;
local_origin.header.frame_id = origin_frame;
local_origin.point.x = 0;