DuongTD/laser_geometry
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Make laser_geometry build for ros2 (on windows 10)

Browse Source
This commit is contained in:
Brian Fjeldstad
2017-11-30 10:55:41 -08:00
parent c9cbfc6364
commit d39ce225c9
5 changed files with 141 additions and 280 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
test/projection_test.cpp
View File

@@ -45,14 +45,14 @@
class BuildScanException { };
sensor_msgs::LaserScan build_constant_scan(double range, double intensity,
sensor_msgs::msg::LaserScan build_constant_scan(double range, double intensity,
double ang_min, double ang_max, double ang_increment,
ros::Duration scan_time)
{
if (((ang_max - ang_min) / ang_increment) < 0)
throw (BuildScanException());
sensor_msgs::LaserScan scan;
sensor_msgs::msg::LaserScan scan;
scan.header.stamp = ros::Time::now();
scan.header.frame_id = "laser_frame";
scan.angle_min = ang_min;
@@ -239,9 +239,9 @@ TEST(laser_geometry, projectLaser)
try
{
// printf("%f %f %f %f %f %f\n", range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
sensor_msgs::LaserScan scan = build_constant_scan(range, intensity, min_angle, max_angle, angle_increment, scan_time);
sensor_msgs::msg::LaserScan scan = build_constant_scan(range, intensity, min_angle, max_angle, angle_increment, scan_time);
sensor_msgs::PointCloud cloud_out;
sensor_msgs::msg::PointCloud cloud_out;
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)1);
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity);
@@ -354,9 +354,9 @@ TEST(laser_geometry, projectLaser2)
try
{
// printf("%f %f %f %f %f %f\n", range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
sensor_msgs::LaserScan scan = build_constant_scan(range, intensity, min_angle, max_angle, angle_increment, scan_time);
sensor_msgs::msg::LaserScan scan = build_constant_scan(range, intensity, min_angle, max_angle, angle_increment, scan_time);
sensor_msgs::PointCloud2 cloud_out;
sensor_msgs::msg::PointCloud2 cloud_out;
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity);
@@ -387,7 +387,7 @@ TEST(laser_geometry, projectLaser2)
uint32_t index_offset = 0;
uint32_t distance_offset = 0;
uint32_t stamps_offset = 0;
for (std::vector<sensor_msgs::PointField>::iterator f = cloud_out.fields.begin(); f != cloud_out.fields.end(); f++)
for (std::vector<sensor_msgs::msg::PointField>::iterator f = cloud_out.fields.begin(); f != cloud_out.fields.end(); f++)
{
if (f->name == "x") x_offset = f->offset;
if (f->name == "y") y_offset = f->offset;
@@ -491,10 +491,10 @@ TEST(laser_geometry, transformLaserScanToPointCloud)
try
{
//printf("%f %f %f %f %f %f\n", range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
sensor_msgs::LaserScan scan = build_constant_scan(range, intensity, min_angle, max_angle, angle_increment, scan_time);
sensor_msgs::msg::LaserScan scan = build_constant_scan(range, intensity, min_angle, max_angle, angle_increment, scan_time);
scan.header.frame_id = "laser_frame";
sensor_msgs::PointCloud cloud_out;
sensor_msgs::msg::PointCloud cloud_out;
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)1);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, laser_geometry::channel_option::Intensity);
@@ -608,10 +608,10 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
try
{
//printf("%f %f %f %f %f %f\n", range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
sensor_msgs::LaserScan scan = build_constant_scan(range, intensity, min_angle, max_angle, angle_increment, scan_time);
sensor_msgs::msg::LaserScan scan = build_constant_scan(range, intensity, min_angle, max_angle, angle_increment, scan_time);
scan.header.frame_id = "laser_frame";
sensor_msgs::PointCloud2 cloud_out;
sensor_msgs::msg::PointCloud2 cloud_out;
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, -1.0, laser_geometry::channel_option::None);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)3);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::None);
@@ -659,7 +659,7 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
uint32_t index_offset = 0;
uint32_t distance_offset = 0;
uint32_t stamps_offset = 0;
for (std::vector<sensor_msgs::PointField>::iterator f = cloud_out.fields.begin(); f != cloud_out.fields.end(); f++)
for (std::vector<sensor_msgs::msg::PointField>::iterator f = cloud_out.fields.begin(); f != cloud_out.fields.end(); f++)
{
if (f->name == "x") x_offset = f->offset;
if (f->name == "y") y_offset = f->offset;