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multiple-object-tracking-lidar
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Rm slash prefix (deprecated in TF2)

master
Praveen Palanisamy 2021-08-28 22:49:13 -07:00
parent f1aec75f7d
commit 2f54a47924
2 changed files with 3 additions and 3 deletions
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4
src/main.cpp
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@ -247,7 +247,7 @@ void KFT(const std_msgs::Float32MultiArray ccs)
m.id=i; m.id=i;
m.type=visualization_msgs::Marker::CUBE; m.type=visualization_msgs::Marker::CUBE;
m.header.frame_id="/map"; m.header.frame_id="map";
m.scale.x=0.3; m.scale.y=0.3; m.scale.z=0.3; m.scale.x=0.3; m.scale.y=0.3; m.scale.z=0.3;
m.action=visualization_msgs::Marker::ADD; m.action=visualization_msgs::Marker::ADD;
m.color.a=1.0; m.color.a=1.0;
@ -331,7 +331,7 @@ if (!(meas5[0]==0.0f || meas5[1]==0.0f))
void publish_cloud(ros::Publisher& pub, pcl::PointCloud<pcl::PointXYZ>::Ptr cluster){ void publish_cloud(ros::Publisher& pub, pcl::PointCloud<pcl::PointXYZ>::Ptr cluster){
sensor_msgs::PointCloud2::Ptr clustermsg (new sensor_msgs::PointCloud2); sensor_msgs::PointCloud2::Ptr clustermsg (new sensor_msgs::PointCloud2);
pcl::toROSMsg (*cluster , *clustermsg); pcl::toROSMsg (*cluster , *clustermsg);
clustermsg->header.frame_id = "/map"; clustermsg->header.frame_id = "map";
clustermsg->header.stamp = ros::Time::now(); clustermsg->header.stamp = ros::Time::now();
pub.publish (*clustermsg); pub.publish (*clustermsg);

2
src/main_naive.cpp
View File

@ -245,7 +245,7 @@ objID.clear();//Clear the objID vector
void publish_cloud(ros::Publisher& pub, pcl::PointCloud<pcl::PointXYZ>::Ptr cluster){ void publish_cloud(ros::Publisher& pub, pcl::PointCloud<pcl::PointXYZ>::Ptr cluster){
sensor_msgs::PointCloud2::Ptr clustermsg (new sensor_msgs::PointCloud2); sensor_msgs::PointCloud2::Ptr clustermsg (new sensor_msgs::PointCloud2);
pcl::toROSMsg (*cluster , *clustermsg); pcl::toROSMsg (*cluster , *clustermsg);
clustermsg->header.frame_id = "/map"; clustermsg->header.frame_id = "map";
clustermsg->header.stamp = ros::Time::now(); clustermsg->header.stamp = ros::Time::now();
pub.publish (*clustermsg); pub.publish (*clustermsg);