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

Fix Duration casting issue leading to no undistortion

src/laser_geometry.cpp

@@ -427,8 +427,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
   TIME end_time = scan_in.header.stamp;
   // TODO(anonymous): reconcile all the different time constructs
   if (!scan_in.ranges.empty()) {
-    end_time = end_time + rclcpp::Duration(
-      static_cast<int>((scan_in.ranges.size() - 1) * scan_in.time_increment), 0);
+    end_time = start_time + rclcpp::Duration::from_seconds(
+      static_cast<double>(scan_in.ranges.size() - 1) * static_cast<double>(scan_in.time_increment));
   }
 
   std::chrono::nanoseconds start(start_time.nanoseconds());