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Fix regression with pointcloud2 iter double->float

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This commit is contained in:
Paul Bovbel 2015-01-20 10:14:42 -05:00 committed by Paul Bovbel
parent a71bb05a7c
commit 1a8e94ddbe
1 changed files with 7 additions and 8 deletions
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15
pointcloud_to_laserscan/src/pointcloud_to_laserscan_nodelet.cpp
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@ -127,14 +127,14 @@ namespace pointcloud_to_laserscan
void PointCloudToLaserScanNodelet::cloudCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg) void PointCloudToLaserScanNodelet::cloudCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
{ {
if(target_frame_.empty()){
target_frame_ = cloud_msg->header.frame_id;
}
//build laserscan output //build laserscan output
sensor_msgs::LaserScan output; sensor_msgs::LaserScan output;
output.header = cloud_msg->header; output.header = cloud_msg->header;
output.header.frame_id = target_frame_; if(!target_frame_.empty()){
output.header.frame_id = target_frame_;
}
output.angle_min = angle_min_; output.angle_min = angle_min_;
output.angle_max = angle_max_; output.angle_max = angle_max_;
output.angle_increment = angle_increment_; output.angle_increment = angle_increment_;
@ -175,9 +175,9 @@ namespace pointcloud_to_laserscan
} }
// Iterate through pointcloud // Iterate through pointcloud
sensor_msgs::PointCloud2ConstIterator<double> iter_x(*cloud_out, "x"); sensor_msgs::PointCloud2ConstIterator<float> iter_x(*cloud_out, "x");
sensor_msgs::PointCloud2ConstIterator<double> iter_y(*cloud_out, "y"); sensor_msgs::PointCloud2ConstIterator<float> iter_y(*cloud_out, "y");
sensor_msgs::PointCloud2ConstIterator<double> iter_z(*cloud_out, "z"); sensor_msgs::PointCloud2ConstIterator<float> iter_z(*cloud_out, "z");
for(; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z){ for(; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z){
@ -217,4 +217,3 @@ namespace pointcloud_to_laserscan
} }
PLUGINLIB_DECLARE_CLASS(pointcloud_to_laserscan, PointCloudToLaserScanNodelet, pointcloud_to_laserscan::PointCloudToLaserScanNodelet, nodelet::Nodelet); PLUGINLIB_DECLARE_CLASS(pointcloud_to_laserscan, PointCloudToLaserScanNodelet, pointcloud_to_laserscan::PointCloudToLaserScanNodelet, nodelet::Nodelet);