DuongTD/laser_geometry
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HiepLM update

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HiepLM 2025-12-30 09:06:36 +07:00
parent 1b06dd9122
commit a183d4bb7b
2 changed files with 3 additions and 3 deletions
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2
include/laser_geometry/laser_geometry.hpp
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@ -42,7 +42,7 @@
#include "tf3/buffer_core.h" #include "tf3/buffer_core.h"
#include <sensor_msgs/LaserScan.h> #include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h> #include <sensor_msgs/PointCloud2.h>
#include <geometry_msgs/TransformStamped.h> #include <robot_geometry_msgs/TransformStamped.h>
#include "laser_geometry/visibility_control.hpp" #include "laser_geometry/visibility_control.hpp"
namespace laser_geometry namespace laser_geometry

4
src/laser_geometry.cpp
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@ -445,8 +445,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
tf3::TransformStampedMsg end_transform_msg = tf.lookupTransform( tf3::TransformStampedMsg end_transform_msg = tf.lookupTransform(
target_frame, scan_in.header.frame_id, e); target_frame, scan_in.header.frame_id, e);
geometry_msgs::TransformStamped start_transform = data_convert::convertToTransformStamped(start_transform_msg); robot_geometry_msgs::TransformStamped start_transform = data_convert::convertToTransformStamped(start_transform_msg);
geometry_msgs::TransformStamped end_transform = data_convert::convertToTransformStamped(end_transform_msg); robot_geometry_msgs::TransformStamped end_transform = data_convert::convertToTransformStamped(end_transform_msg);
tf3::Quaternion quat_start(start_transform.transform.rotation.x, tf3::Quaternion quat_start(start_transform.transform.rotation.x,
start_transform.transform.rotation.y, start_transform.transform.rotation.y,