DuongTD/laser_geometry
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base: DuongTD:1b06dd9122b46f8d8a7c0414d8fa5043656f7933
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DuongTD:main
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compare: DuongTD:a183d4bb7bdd1e6eb44be08911cc1a4e4590c4e4
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DuongTD:main

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Author SHA1 Message Date
HiepLM
a183d4bb7b HiepLM update 2025-12-30 09:06:36 +07:00
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,