DuongTD/laser_geometry
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Use correct time unit

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This commit is contained in:
Andreas Greimel 2018-03-14 14:17:36 +01:00 committed by Martin Idel
parent 433181e63e
commit 1dd3314e3b
1 changed files with 4 additions and 4 deletions
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8
src/laser_geometry.cpp
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@ -423,13 +423,13 @@ void LaserProjection::transformLaserScanToPointCloud_(
end_time = end_time + rclcpp::Duration((scan_in.ranges.size() - 1) * scan_in.time_increment, 0); end_time = end_time + rclcpp::Duration((scan_in.ranges.size() - 1) * scan_in.time_increment, 0);
} }
std::chrono::milliseconds start(start_time.nanoseconds()); std::chrono::nanoseconds start(start_time.nanoseconds());
std::chrono::time_point<std::chrono::system_clock> st(start); std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> st(start);
geometry_msgs::msg::TransformStamped start_transform = tf.lookupTransform(target_frame, geometry_msgs::msg::TransformStamped start_transform = tf.lookupTransform(target_frame,
scan_in.header.frame_id, scan_in.header.frame_id,
st); st);
std::chrono::milliseconds end(end_time.nanoseconds()); std::chrono::nanoseconds end(end_time.nanoseconds());
std::chrono::time_point<std::chrono::system_clock> e(end); std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> e(end);
geometry_msgs::msg::TransformStamped end_transform = tf.lookupTransform(target_frame, geometry_msgs::msg::TransformStamped end_transform = tf.lookupTransform(target_frame,
scan_in.header.frame_id, scan_in.header.frame_id,
e); e);