Remove dependency on proto::LaserScan. (#323)
Also change the CMakeLists.txt to run all tests found by the glob.master
Wolfgang Hess
GitHub
parent
1514f71b30
commit
6b147dd445
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@ -132,29 +132,20 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
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COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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if (CATKIN_ENABLE_TESTING)
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catkin_add_gtest(configuration_files_test "cartographer_ros/configuration_files_test.cc")
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# catkin_add_gtest uses a plain (i.e. no PUBLIC/PRIVATE/INTERFACE) call to
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# target_link_libraries. That forces us to do the same.
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target_include_directories(configuration_files_test SYSTEM PUBLIC ${LUA_INCLUDE_DIR})
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target_link_libraries(configuration_files_test ${LUA_LIBRARIES})
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target_include_directories(configuration_files_test SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
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target_link_libraries(configuration_files_test ${catkin_LIBRARIES})
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add_dependencies(configuration_files_test ${catkin_EXPORTED_TARGETS})
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target_link_libraries(configuration_files_test cartographer)
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target_link_libraries(configuration_files_test ${PROJECT_NAME})
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set_target_properties(configuration_files_test PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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catkin_add_gtest(time_conversion_test "cartographer_ros/time_conversion_test.cc")
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# catkin_add_gtest uses a plain (i.e. no PUBLIC/PRIVATE/INTERFACE) call to
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# target_link_libraries. That forces us to do the same.
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target_include_directories(time_conversion_test SYSTEM PUBLIC ${LUA_INCLUDE_DIR})
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target_link_libraries(time_conversion_test ${LUA_LIBRARIES})
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target_include_directories(time_conversion_test SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
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target_link_libraries(time_conversion_test ${catkin_LIBRARIES})
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add_dependencies(time_conversion_test ${catkin_EXPORTED_TARGETS})
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target_link_libraries(time_conversion_test cartographer)
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target_link_libraries(time_conversion_test ${PROJECT_NAME})
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set_target_properties(time_conversion_test PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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foreach(TEST_SOURCE_FILENAME ${ALL_TESTS})
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get_filename_component(TEST_NAME ${TEST_SOURCE_FILENAME} NAME_WE)
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catkin_add_gtest(${TEST_NAME} ${TEST_SOURCE_FILENAME})
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# catkin_add_gtest uses a plain (i.e. no PUBLIC/PRIVATE/INTERFACE) call to
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# target_link_libraries. That forces us to do the same.
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target_include_directories(${TEST_NAME} SYSTEM PUBLIC ${LUA_INCLUDE_DIR})
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target_link_libraries(${TEST_NAME} ${LUA_LIBRARIES})
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target_include_directories(${TEST_NAME} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
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target_link_libraries(${TEST_NAME} ${catkin_LIBRARIES})
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add_dependencies(${TEST_NAME} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${TEST_NAME} cartographer)
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target_link_libraries(${TEST_NAME} ${PROJECT_NAME})
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set_target_properties(${TEST_NAME} PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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endforeach()
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endif()
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install(DIRECTORY launch urdf configuration_files
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@ -55,16 +55,19 @@ void Write3DAssets(const std::vector<::cartographer::mapping::TrajectoryNode>&
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carto::io::NullPointsProcessor null_points_processor;
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carto::io::XRayPointsProcessor xy_xray_points_processor(
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voxel_size, carto::transform::Rigid3f::Rotation(
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Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitY())),
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voxel_size,
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carto::transform::Rigid3f::Rotation(
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Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitY())),
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{}, stem + "_xray_xy", file_writer_factory, &null_points_processor);
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carto::io::XRayPointsProcessor yz_xray_points_processor(
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voxel_size, carto::transform::Rigid3f::Rotation(
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Eigen::AngleAxisf(M_PI, Eigen::Vector3f::UnitZ())),
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voxel_size,
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carto::transform::Rigid3f::Rotation(
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Eigen::AngleAxisf(M_PI, Eigen::Vector3f::UnitZ())),
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{}, stem + "_xray_yz", file_writer_factory, &xy_xray_points_processor);
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carto::io::XRayPointsProcessor xz_xray_points_processor(
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voxel_size, carto::transform::Rigid3f::Rotation(
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Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitZ())),
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voxel_size,
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carto::transform::Rigid3f::Rotation(
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Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitZ())),
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{}, stem + "_xray_xz", file_writer_factory, &yz_xray_points_processor);
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carto::io::PlyWritingPointsProcessor ply_writing_points_processor(
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file_writer_factory(stem + ".ply"), &xz_xray_points_processor);
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@ -66,30 +66,6 @@ namespace {
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namespace carto = ::cartographer;
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carto::sensor::PointCloudWithIntensities ToPointCloudWithIntensities(
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const sensor_msgs::PointCloud2::ConstPtr& message) {
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pcl::PointCloud<pcl::PointXYZ> pcl_point_cloud;
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pcl::fromROSMsg(*message, pcl_point_cloud);
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carto::sensor::PointCloudWithIntensities point_cloud;
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// TODO(hrapp): How to get reflectivities from PCL?
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for (const auto& point : pcl_point_cloud) {
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point_cloud.points.emplace_back(point.x, point.y, point.z);
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point_cloud.intensities.push_back(1.);
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}
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return point_cloud;
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}
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carto::sensor::PointCloudWithIntensities ToPointCloudWithIntensities(
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const sensor_msgs::MultiEchoLaserScan::ConstPtr& message) {
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return carto::sensor::ToPointCloudWithIntensities(ToCartographer(*message));
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}
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carto::sensor::PointCloudWithIntensities ToPointCloudWithIntensities(
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const sensor_msgs::LaserScan::ConstPtr& message) {
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return carto::sensor::ToPointCloudWithIntensities(ToCartographer(*message));
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}
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template <typename T>
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void HandleMessage(
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const T& message, const string& tracking_frame,
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@ -97,7 +73,7 @@ void HandleMessage(
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const carto::transform::TransformInterpolationBuffer&
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transform_interpolation_buffer,
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const std::vector<std::unique_ptr<carto::io::PointsProcessor>>& pipeline) {
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const carto::common::Time time = FromRos(message->header.stamp);
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const carto::common::Time time = FromRos(message.header.stamp);
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if (!transform_interpolation_buffer.Has(time)) {
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return;
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}
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@ -106,14 +82,14 @@ void HandleMessage(
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transform_interpolation_buffer.Lookup(time);
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const carto::transform::Rigid3d sensor_to_tracking =
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ToRigid3d(tf_buffer.lookupTransform(
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tracking_frame, message->header.frame_id, message->header.stamp));
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tracking_frame, message.header.frame_id, message.header.stamp));
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const carto::transform::Rigid3f sensor_to_map =
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(tracking_to_map * sensor_to_tracking).cast<float>();
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auto batch = carto::common::make_unique<carto::io::PointsBatch>();
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batch->time = time;
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batch->origin = sensor_to_map * Eigen::Vector3f::Zero();
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batch->frame_id = message->header.frame_id;
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batch->frame_id = message.header.frame_id;
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carto::sensor::PointCloudWithIntensities point_cloud =
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ToPointCloudWithIntensities(message);
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@ -179,17 +155,17 @@ void Run(const string& trajectory_filename, const string& bag_filename,
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for (const rosbag::MessageInstance& message : view) {
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if (message.isType<sensor_msgs::PointCloud2>()) {
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HandleMessage(message.instantiate<sensor_msgs::PointCloud2>(),
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HandleMessage(*message.instantiate<sensor_msgs::PointCloud2>(),
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tracking_frame, *tf_buffer,
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*transform_interpolation_buffer, pipeline);
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}
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if (message.isType<sensor_msgs::MultiEchoLaserScan>()) {
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HandleMessage(message.instantiate<sensor_msgs::MultiEchoLaserScan>(),
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HandleMessage(*message.instantiate<sensor_msgs::MultiEchoLaserScan>(),
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tracking_frame, *tf_buffer,
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*transform_interpolation_buffer, pipeline);
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}
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if (message.isType<sensor_msgs::LaserScan>()) {
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HandleMessage(message.instantiate<sensor_msgs::LaserScan>(),
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HandleMessage(*message.instantiate<sensor_msgs::LaserScan>(),
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tracking_frame, *tf_buffer,
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*transform_interpolation_buffer, pipeline);
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}
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@ -18,7 +18,6 @@
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#include "cartographer/common/port.h"
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#include "cartographer/common/time.h"
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#include "cartographer/sensor/proto/sensor.pb.h"
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#include "cartographer/transform/proto/transform.pb.h"
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#include "cartographer/transform/transform.h"
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#include "cartographer_ros/time_conversion.h"
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@ -46,6 +45,7 @@ constexpr float kPointCloudComponentFourMagic = 1.;
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using ::cartographer::transform::Rigid3d;
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using ::cartographer::kalman_filter::PoseCovariance;
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using ::cartographer::sensor::PointCloudWithIntensities;
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sensor_msgs::PointCloud2 PreparePointCloud2Message(const int64 timestamp,
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const string& frame_id,
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@ -76,76 +76,58 @@ sensor_msgs::PointCloud2 PreparePointCloud2Message(const int64 timestamp,
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return msg;
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}
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// For sensor_msgs::LaserScan.
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bool HasEcho(float) { return true; }
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float GetFirstEcho(float range) { return range; }
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// For sensor_msgs::MultiEchoLaserScan.
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bool HasEcho(const sensor_msgs::LaserEcho& echo) {
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return !echo.echoes.empty();
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}
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float GetFirstEcho(const sensor_msgs::LaserEcho& echo) {
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return echo.echoes[0];
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}
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// For sensor_msgs::LaserScan and sensor_msgs::MultiEchoLaserScan.
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template <typename LaserMessageType>
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PointCloudWithIntensities LaserScanToPointCloudWithIntensities(
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const LaserMessageType& msg) {
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CHECK_GE(msg.range_min, 0.f);
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CHECK_GE(msg.range_max, msg.range_min);
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if (msg.angle_increment > 0.f) {
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CHECK_GT(msg.angle_max, msg.angle_min);
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} else {
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CHECK_GT(msg.angle_min, msg.angle_max);
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}
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PointCloudWithIntensities point_cloud;
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float angle = msg.angle_min;
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for (size_t i = 0; i < msg.ranges.size(); ++i) {
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const auto& echoes = msg.ranges[i];
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if (HasEcho(echoes)) {
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const float first_echo = GetFirstEcho(echoes);
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if (msg.range_min <= first_echo && first_echo <= msg.range_max) {
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const Eigen::AngleAxisf rotation(angle, Eigen::Vector3f::UnitZ());
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point_cloud.points.push_back(rotation *
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(first_echo * Eigen::Vector3f::UnitX()));
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if (msg.intensities.size() > 0) {
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CHECK_EQ(msg.intensities.size(), msg.ranges.size());
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const auto& echo_intensities = msg.intensities[i];
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CHECK(HasEcho(echo_intensities));
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point_cloud.intensities.push_back(GetFirstEcho(echo_intensities));
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} else {
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point_cloud.intensities.push_back(0.f);
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}
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}
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}
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angle += msg.angle_increment;
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}
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return point_cloud;
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}
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} // namespace
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sensor_msgs::MultiEchoLaserScan ToMultiEchoLaserScanMessage(
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const int64 timestamp, const string& frame_id,
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const ::cartographer::sensor::proto::LaserScan& laser_scan) {
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sensor_msgs::MultiEchoLaserScan msg;
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msg.header.stamp = ToRos(::cartographer::common::FromUniversal(timestamp));
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msg.header.frame_id = frame_id;
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msg.angle_min = laser_scan.angle_min();
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msg.angle_max = laser_scan.angle_max();
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msg.angle_increment = laser_scan.angle_increment();
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msg.time_increment = laser_scan.time_increment();
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msg.scan_time = laser_scan.scan_time();
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msg.range_min = laser_scan.range_min();
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msg.range_max = laser_scan.range_max();
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for (const auto& echoes : laser_scan.range()) {
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msg.ranges.emplace_back();
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std::copy(echoes.value().begin(), echoes.value().end(),
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std::back_inserter(msg.ranges.back().echoes));
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}
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for (const auto& echoes : laser_scan.intensity()) {
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msg.intensities.emplace_back();
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std::copy(echoes.value().begin(), echoes.value().end(),
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std::back_inserter(msg.intensities.back().echoes));
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}
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return msg;
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}
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sensor_msgs::LaserScan ToLaserScan(
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const int64 timestamp, const string& frame_id,
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const ::cartographer::sensor::proto::LaserScan& laser_scan) {
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sensor_msgs::LaserScan msg;
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msg.header.stamp = ToRos(::cartographer::common::FromUniversal(timestamp));
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msg.header.frame_id = frame_id;
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msg.angle_min = laser_scan.angle_min();
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msg.angle_max = laser_scan.angle_max();
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msg.angle_increment = laser_scan.angle_increment();
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msg.time_increment = laser_scan.time_increment();
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msg.scan_time = laser_scan.scan_time();
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msg.range_min = laser_scan.range_min();
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msg.range_max = laser_scan.range_max();
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for (const auto& echoes : laser_scan.range()) {
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if (echoes.value_size() > 0) {
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msg.ranges.push_back(echoes.value(0));
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} else {
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msg.ranges.push_back(0.);
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}
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}
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bool has_intensities = false;
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for (const auto& echoes : laser_scan.intensity()) {
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if (echoes.value_size() > 0) {
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msg.intensities.push_back(echoes.value(0));
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has_intensities = true;
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} else {
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msg.intensities.push_back(0);
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}
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}
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if (!has_intensities) {
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msg.intensities.clear();
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}
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return msg;
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}
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sensor_msgs::PointCloud2 ToPointCloud2Message(
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const int64 timestamp, const string& frame_id,
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const ::cartographer::sensor::PointCloud& point_cloud) {
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@ -160,73 +142,28 @@ sensor_msgs::PointCloud2 ToPointCloud2Message(
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return msg;
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}
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sensor_msgs::PointCloud2 ToPointCloud2Message(
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const int64 timestamp, const string& frame_id,
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const ::cartographer::sensor::proto::RangeData& range_data) {
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CHECK(::cartographer::transform::ToEigen(range_data.origin()).norm() == 0)
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<< "Trying to convert a range_data that is not at the origin.";
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const auto& point_cloud = range_data.point_cloud();
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CHECK_EQ(point_cloud.x_size(), point_cloud.y_size());
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CHECK_EQ(point_cloud.x_size(), point_cloud.z_size());
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const auto num_points = point_cloud.x_size();
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auto msg = PreparePointCloud2Message(timestamp, frame_id, num_points);
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::ros::serialization::OStream stream(msg.data.data(), msg.data.size());
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for (int i = 0; i < num_points; ++i) {
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stream.next(point_cloud.x(i));
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stream.next(point_cloud.y(i));
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stream.next(point_cloud.z(i));
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stream.next(kPointCloudComponentFourMagic);
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}
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return msg;
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}
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::cartographer::sensor::proto::LaserScan ToCartographer(
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PointCloudWithIntensities ToPointCloudWithIntensities(
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const sensor_msgs::LaserScan& msg) {
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::cartographer::sensor::proto::LaserScan proto;
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proto.set_angle_min(msg.angle_min);
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proto.set_angle_max(msg.angle_max);
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proto.set_angle_increment(msg.angle_increment);
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proto.set_time_increment(msg.time_increment);
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proto.set_scan_time(msg.scan_time);
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proto.set_range_min(msg.range_min);
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proto.set_range_max(msg.range_max);
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for (const auto& range : msg.ranges) {
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proto.add_range()->mutable_value()->Add(range);
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}
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for (const auto& intensity : msg.intensities) {
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proto.add_intensity()->mutable_value()->Add(intensity);
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}
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return proto;
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return LaserScanToPointCloudWithIntensities(msg);
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}
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::cartographer::sensor::proto::LaserScan ToCartographer(
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PointCloudWithIntensities ToPointCloudWithIntensities(
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const sensor_msgs::MultiEchoLaserScan& msg) {
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::cartographer::sensor::proto::LaserScan proto;
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proto.set_angle_min(msg.angle_min);
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proto.set_angle_max(msg.angle_max);
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proto.set_angle_increment(msg.angle_increment);
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proto.set_time_increment(msg.time_increment);
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proto.set_scan_time(msg.scan_time);
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proto.set_range_min(msg.range_min);
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proto.set_range_max(msg.range_max);
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return LaserScanToPointCloudWithIntensities(msg);
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}
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for (const auto& range : msg.ranges) {
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auto* proto_echoes = proto.add_range()->mutable_value();
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for (const auto& echo : range.echoes) {
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proto_echoes->Add(echo);
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}
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PointCloudWithIntensities ToPointCloudWithIntensities(
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const sensor_msgs::PointCloud2& message) {
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pcl::PointCloud<pcl::PointXYZ> pcl_point_cloud;
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pcl::fromROSMsg(message, pcl_point_cloud);
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PointCloudWithIntensities point_cloud;
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// TODO(hrapp): How to get reflectivities from PCL?
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for (const auto& point : pcl_point_cloud) {
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point_cloud.points.emplace_back(point.x, point.y, point.z);
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point_cloud.intensities.push_back(1.);
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}
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for (const auto& intensity : msg.intensities) {
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auto* proto_echoes = proto.add_intensity()->mutable_value();
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for (const auto& echo : intensity.echoes) {
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proto_echoes->Add(echo);
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}
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}
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return proto;
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return point_cloud;
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}
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Rigid3d ToRigid3d(const geometry_msgs::TransformStamped& transform) {
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@ -20,7 +20,6 @@
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#include "cartographer/common/port.h"
|
||||
#include "cartographer/kalman_filter/pose_tracker.h"
|
||||
#include "cartographer/sensor/point_cloud.h"
|
||||
#include "cartographer/sensor/proto/sensor.pb.h"
|
||||
#include "cartographer/transform/rigid_transform.h"
|
||||
#include "geometry_msgs/Pose.h"
|
||||
#include "geometry_msgs/Transform.h"
|
||||
|
|
@ -35,35 +34,25 @@
|
|||
|
||||
namespace cartographer_ros {
|
||||
|
||||
// Returns a laser scan consisting of the first echo of each beam.
|
||||
sensor_msgs::LaserScan ToLaserScan(
|
||||
int64 timestamp, const string& frame_id,
|
||||
const ::cartographer::sensor::proto::LaserScan& laser_scan);
|
||||
|
||||
sensor_msgs::MultiEchoLaserScan ToMultiEchoLaserScanMessage(
|
||||
int64 timestamp, const string& frame_id,
|
||||
const ::cartographer::sensor::proto::LaserScan& laser_scan);
|
||||
|
||||
sensor_msgs::PointCloud2 ToPointCloud2Message(
|
||||
int64 timestamp, const string& frame_id,
|
||||
const ::cartographer::sensor::PointCloud& point_cloud);
|
||||
|
||||
sensor_msgs::PointCloud2 ToPointCloud2Message(
|
||||
int64 timestamp, const string& frame_id,
|
||||
const ::cartographer::sensor::proto::RangeData& range_data);
|
||||
|
||||
geometry_msgs::Transform ToGeometryMsgTransform(
|
||||
const ::cartographer::transform::Rigid3d& rigid3d);
|
||||
|
||||
geometry_msgs::Pose ToGeometryMsgPose(
|
||||
const ::cartographer::transform::Rigid3d& rigid3d);
|
||||
|
||||
::cartographer::sensor::proto::LaserScan ToCartographer(
|
||||
::cartographer::sensor::PointCloudWithIntensities ToPointCloudWithIntensities(
|
||||
const sensor_msgs::LaserScan& msg);
|
||||
|
||||
::cartographer::sensor::proto::LaserScan ToCartographer(
|
||||
::cartographer::sensor::PointCloudWithIntensities ToPointCloudWithIntensities(
|
||||
const sensor_msgs::MultiEchoLaserScan& msg);
|
||||
|
||||
::cartographer::sensor::PointCloudWithIntensities ToPointCloudWithIntensities(
|
||||
const sensor_msgs::PointCloud2& message);
|
||||
|
||||
::cartographer::transform::Rigid3d ToRigid3d(
|
||||
const geometry_msgs::TransformStamped& transform);
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,74 @@
|
|||
/*
|
||||
* Copyright 2016 The Cartographer Authors
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the "License");
|
||||
* you may not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS,
|
||||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "cartographer_ros/msg_conversion.h"
|
||||
|
||||
#include <cmath>
|
||||
|
||||
#include "gtest/gtest.h"
|
||||
#include "sensor_msgs/LaserScan.h"
|
||||
|
||||
namespace cartographer_ros {
|
||||
namespace {
|
||||
|
||||
TEST(MsgConversion, LaserScanToPointCloud) {
|
||||
sensor_msgs::LaserScan laser_scan;
|
||||
for (int i = 0; i < 8; ++i) {
|
||||
laser_scan.ranges.push_back(1.f);
|
||||
}
|
||||
laser_scan.angle_min = 0.f;
|
||||
laser_scan.angle_max = 8.f * static_cast<float>(M_PI_4);
|
||||
laser_scan.angle_increment = static_cast<float>(M_PI_4);
|
||||
laser_scan.range_min = 0.f;
|
||||
laser_scan.range_max = 10.f;
|
||||
|
||||
const auto point_cloud = ToPointCloudWithIntensities(laser_scan).points;
|
||||
EXPECT_TRUE(point_cloud[0].isApprox(Eigen::Vector3f(1.f, 0.f, 0.f), 1e-6));
|
||||
EXPECT_TRUE(point_cloud[1].isApprox(
|
||||
Eigen::Vector3f(1.f / std::sqrt(2.f), 1.f / std::sqrt(2.f), 0.f), 1e-6));
|
||||
EXPECT_TRUE(point_cloud[2].isApprox(Eigen::Vector3f(0.f, 1.f, 0.f), 1e-6));
|
||||
EXPECT_TRUE(point_cloud[3].isApprox(
|
||||
Eigen::Vector3f(-1.f / std::sqrt(2.f), 1.f / std::sqrt(2.f), 0.f), 1e-6));
|
||||
EXPECT_TRUE(point_cloud[4].isApprox(Eigen::Vector3f(-1.f, 0.f, 0.f), 1e-6));
|
||||
EXPECT_TRUE(point_cloud[5].isApprox(
|
||||
Eigen::Vector3f(-1.f / std::sqrt(2.f), -1.f / std::sqrt(2.f), 0.f),
|
||||
1e-6));
|
||||
EXPECT_TRUE(point_cloud[6].isApprox(Eigen::Vector3f(0.f, -1.f, 0.f), 1e-6));
|
||||
EXPECT_TRUE(point_cloud[7].isApprox(
|
||||
Eigen::Vector3f(1.f / std::sqrt(2.f), -1.f / std::sqrt(2.f), 0.f), 1e-6));
|
||||
}
|
||||
|
||||
TEST(MsgConversion, LaserScanToPointCloudWithInfinityAndNaN) {
|
||||
sensor_msgs::LaserScan laser_scan;
|
||||
laser_scan.ranges.push_back(1.f);
|
||||
laser_scan.ranges.push_back(std::numeric_limits<float>::infinity());
|
||||
laser_scan.ranges.push_back(2.f);
|
||||
laser_scan.ranges.push_back(std::numeric_limits<float>::quiet_NaN());
|
||||
laser_scan.ranges.push_back(3.f);
|
||||
laser_scan.angle_min = 0.f;
|
||||
laser_scan.angle_max = 3.f * static_cast<float>(M_PI_4);
|
||||
laser_scan.angle_increment = static_cast<float>(M_PI_4);
|
||||
laser_scan.range_min = 2.f;
|
||||
laser_scan.range_max = 10.f;
|
||||
|
||||
const auto point_cloud = ToPointCloudWithIntensities(laser_scan).points;
|
||||
ASSERT_EQ(2, point_cloud.size());
|
||||
EXPECT_TRUE(point_cloud[0].isApprox(Eigen::Vector3f(0.f, 2.f, 0.f), 1e-6));
|
||||
EXPECT_TRUE(point_cloud[1].isApprox(Eigen::Vector3f(-3.f, 0.f, 0.f), 1e-6));
|
||||
}
|
||||
|
||||
} // namespace
|
||||
} // namespace cartographer_ros
|
||||
|
|
@ -87,14 +87,14 @@ void SensorBridge::HandleImuMessage(const string& sensor_id,
|
|||
void SensorBridge::HandleLaserScanMessage(
|
||||
const string& sensor_id, const sensor_msgs::LaserScan::ConstPtr& msg) {
|
||||
HandleRangefinder(sensor_id, FromRos(msg->header.stamp), msg->header.frame_id,
|
||||
carto::sensor::ToPointCloud(ToCartographer(*msg)));
|
||||
ToPointCloudWithIntensities(*msg).points);
|
||||
}
|
||||
|
||||
void SensorBridge::HandleMultiEchoLaserScanMessage(
|
||||
const string& sensor_id,
|
||||
const sensor_msgs::MultiEchoLaserScan::ConstPtr& msg) {
|
||||
HandleRangefinder(sensor_id, FromRos(msg->header.stamp), msg->header.frame_id,
|
||||
carto::sensor::ToPointCloud(ToCartographer(*msg)));
|
||||
ToPointCloudWithIntensities(*msg).points);
|
||||
}
|
||||
|
||||
void SensorBridge::HandlePointCloud2Message(
|
||||
|
|
|
|||
|
|
@ -23,7 +23,6 @@
|
|||
#include "ros/ros.h"
|
||||
|
||||
namespace cartographer_ros {
|
||||
|
||||
namespace {
|
||||
|
||||
TEST(TimeConversion, testToRos) {
|
||||
|
|
|
|||
Loading…
Reference in New Issue