DuongTD/costmap_2d
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remove file data_convert

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duongtd
2025-11-26 16:27:41 +07:00
parent 2e0a4348dd
commit 5ad8e83761
7 changed files with 25 additions and 180 deletions
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14
src/observation_buffer.cpp
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@@ -1,7 +1,7 @@
#include <costmap_2d/observation_buffer.h>
#include <costmap_2d/data_convert.h>
// #include <tf3_geometry_msgs/tf3_geometry_msgs.h>
// #include <tf3_sensor_msgs/tf3_sensor_msgs.h>
#include <data_convert/data_convert.h>
#include <tf3_geometry_msgs/tf3_geometry_msgs.h>
#include <tf3_sensor_msgs/tf3_sensor_msgs.h>
#include<tf3/convert.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <cstdint>
@@ -59,14 +59,14 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
tf3::doTransform(origin, origin,
tf3_buffer_.lookupTransform(new_global_frame,
origin.header.frame_id,
convertTime(origin.header.stamp)));
data_convert::convertTime(origin.header.stamp)));
obs.origin_ = origin.point;
// we also need to transform the cloud of the observation to the new global frame
tf3::doTransform(*(obs.cloud_), *(obs.cloud_),
tf3_buffer_.lookupTransform(new_global_frame,
obs.cloud_->header.frame_id,
convertTime(obs.cloud_->header.stamp)));
data_convert::convertTime(obs.cloud_->header.stamp)));
}
catch (TransformException& ex)
{
@@ -103,7 +103,7 @@ void ObservationBuffer::bufferCloud(const sensor_msgs::PointCloud2& cloud)
tf3::doTransform(local_origin, global_origin,
tf3_buffer_.lookupTransform(global_frame_,
local_origin.header.frame_id,
convertTime(local_origin.header.stamp)));
data_convert::convertTime(local_origin.header.stamp)));
tf3::convert(global_origin.point, observation_list_.front().origin_);
// make sure to pass on the raytrace/obstacle range of the observation buffer to the observations
@@ -116,7 +116,7 @@ void ObservationBuffer::bufferCloud(const sensor_msgs::PointCloud2& cloud)
tf3::doTransform(cloud, global_frame_cloud,
tf3_buffer_.lookupTransform(global_frame_,
(cloud.header.frame_id),
convertTime(cloud.header.stamp)));
data_convert::convertTime(cloud.header.stamp)));
global_frame_cloud.header.stamp = cloud.header.stamp;
// now we need to remove observations from the cloud that are below or above our height thresholds