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Merge pull request #83 from boschresearch/ros2-fix-casting-issue

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Fix Duration casting issue leading to no undistortion
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Jonathan Binney 2022-01-23 20:12:17 -05:00 committed by GitHub
commit a6a18f8e7e
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1 changed files with 2 additions and 2 deletions
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src/laser_geometry.cpp
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@ -427,8 +427,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
TIME end_time = scan_in.header.stamp; TIME end_time = scan_in.header.stamp;
// TODO(anonymous): reconcile all the different time constructs // TODO(anonymous): reconcile all the different time constructs
if (!scan_in.ranges.empty()) { if (!scan_in.ranges.empty()) {
end_time = end_time + rclcpp::Duration( end_time = start_time + rclcpp::Duration::from_seconds(
static_cast<int>((scan_in.ranges.size() - 1) * scan_in.time_increment), 0); static_cast<double>(scan_in.ranges.size() - 1) * static_cast<double>(scan_in.time_increment));
} }
std::chrono::nanoseconds start(start_time.nanoseconds()); std::chrono::nanoseconds start(start_time.nanoseconds());