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Use function to convert submap pose to ROS message. (#153)

master
Wolfgang Hess 2016-10-27 18:00:18 +02:00 committed by GitHub
parent 76212e1c79
commit d0edcb5f95
1 changed files with 3 additions and 24 deletions
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27
cartographer_ros/cartographer_ros/node_main.cc
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@ -26,18 +26,11 @@
#include "cartographer/common/make_unique.h"
#include "cartographer/common/mutex.h"
#include "cartographer/common/port.h"
#include "cartographer/common/thread_pool.h"
#include "cartographer/common/time.h"
#include "cartographer/kalman_filter/pose_tracker.h"
#include "cartographer/mapping/map_builder.h"
#include "cartographer/mapping/proto/submap_visualization.pb.h"
#include "cartographer/mapping_2d/sparse_pose_graph.h"
#include "cartographer/mapping_3d/local_trajectory_builder_options.h"
#include "cartographer/mapping_3d/sparse_pose_graph.h"
#include "cartographer/sensor/data.h"
#include "cartographer/sensor/laser.h"
#include "cartographer/mapping/sparse_pose_graph.h"
#include "cartographer/sensor/point_cloud.h"
#include "cartographer/sensor/proto/sensor.pb.h"
#include "cartographer/transform/rigid_transform.h"
#include "cartographer/transform/transform.h"
#include "cartographer_ros/assets_writer.h"
@ -76,7 +69,6 @@ namespace cartographer_ros {
namespace {
namespace carto = ::cartographer;
namespace proto = carto::sensor::proto;
using carto::transform::Rigid3d;
using carto::kalman_filter::PoseCovariance;
@ -299,21 +291,8 @@ bool Node::HandleSubmapQuery(
response.width = response_proto.width();
response.height = response_proto.height();
response.resolution = response_proto.resolution();
response.slice_pose.position.x =
response_proto.slice_pose().translation().x();
response.slice_pose.position.y =
response_proto.slice_pose().translation().y();
response.slice_pose.position.z =
response_proto.slice_pose().translation().z();
response.slice_pose.orientation.x =
response_proto.slice_pose().rotation().x();
response.slice_pose.orientation.y =
response_proto.slice_pose().rotation().y();
response.slice_pose.orientation.z =
response_proto.slice_pose().rotation().z();
response.slice_pose.orientation.w =
response_proto.slice_pose().rotation().w();
response.slice_pose = ToGeometryMsgPose(
carto::transform::ToRigid3(response_proto.slice_pose()));
return true;
}