timepoint conversion: sensor_msgs

gleichdick · gleichdick · commit bb9fb8ef57aa · 2022-12-16T22:12:14.000+01:00
diff --git a/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp b/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp
@@ -66,7 +66,7 @@ template<>
 inline
 tf2::TimePoint getTimestamp(const sensor_msgs::msg::PointCloud2 & p)
 {
-  return tf2_ros::fromMsg(p.header.stamp);
+  return tf2::TimePointFromMsg(p.header.stamp);
 }
 
 // method to extract frame id from object
@@ -115,17 +115,6 @@ void doTransform(
     *z_out = point.z();
   }
 }
-inline
-sensor_msgs::msg::PointCloud2 toMsg(const sensor_msgs::msg::PointCloud2 & in)
-{
-  return in;
-}
-inline
-void fromMsg(const sensor_msgs::msg::PointCloud2 & msg, sensor_msgs::msg::PointCloud2 & out)
-{
-  out = msg;
-}
-
 }  // namespace tf2
 
 #endif  // TF2_SENSOR_MSGS__TF2_SENSOR_MSGS_HPP_

Original file line number	Diff line number	Diff line change
`@@ -66,7 +66,7 @@ template<>`
`66`	`66`	`inline`
`67`	`67`	`tf2::TimePoint getTimestamp(const sensor_msgs::msg::PointCloud2 & p)`
`68`	`68`	`{`
`69`		`- return tf2_ros::fromMsg(p.header.stamp);`
	`69`	`+ return tf2::TimePointFromMsg(p.header.stamp);`
`70`	`70`	`}`
`71`	`71`
`72`	`72`	`// method to extract frame id from object`
`@@ -115,17 +115,6 @@ void doTransform(`
`115`	`115`	`*z_out = point.z();`
`116`	`116`	`}`
`117`	`117`	`}`
`118`		`-inline`
`119`		`-sensor_msgs::msg::PointCloud2 toMsg(const sensor_msgs::msg::PointCloud2 & in)`
`120`		`-{`
`121`		`- return in;`
`122`		`-}`
`123`		`-inline`
`124`		`-void fromMsg(const sensor_msgs::msg::PointCloud2 & msg, sensor_msgs::msg::PointCloud2 & out)`
`125`		`-{`
`126`		`- out = msg;`
`127`		`-}`
`128`		`-`
`129`	`118`	`} // namespace tf2`
`130`	`119`
`131`	`120`	`#endif // TF2_SENSOR_MSGS__TF2_SENSOR_MSGS_HPP_`