DuongTD/costmap_2d
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update from DuongTD

Browse Source
This commit is contained in:
HiepLM
2026-01-08 10:35:27 +07:00
parent f052dac142
commit 384897b750
15 changed files with 110 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/observation_buffer.cpp
View File

@@ -140,7 +140,8 @@ void ObservationBuffer::bufferCloud(const robot_sensor_msgs::PointCloud2& cloud)
tf3::TransformStampedMsg tfm_1 = tf3_buffer_.lookupTransform(
global_frame_, // frame đích
local_origin.header.frame_id, // frame nguồn
data_convert::convertTime(local_origin.header.stamp)
tf3::Time()
// data_convert::convertTime(local_origin.header.stamp)
);
tf3::doTransform(local_origin, global_origin, tfm_1);
@@ -161,7 +162,8 @@ void ObservationBuffer::bufferCloud(const robot_sensor_msgs::PointCloud2& cloud)
tf3::TransformStampedMsg tfm_2 = tf3_buffer_.lookupTransform(
global_frame_, // frame đích
cloud.header.frame_id, // frame nguồn
data_convert::convertTime(cloud.header.stamp)
tf3::Time()
// data_convert::convertTime(cloud.header.stamp)
);
tf3::doTransform(cloud, global_frame_cloud, tfm_2);
global_frame_cloud.header.stamp = cloud.header.stamp;