timepoint conversion: sensor_msgs

gleichdick · gleichdick · commit ef665ebe3143 · 2021-06-21T09:06:54.000Z
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
@@ -51,7 +51,7 @@ 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
@@ -100,17 +100,6 @@ 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
`@@ -51,7 +51,7 @@ template<>`
`51`	`51`	`inline`
`52`	`52`	`tf2::TimePoint getTimestamp(const sensor_msgs::msg::PointCloud2 & p)`
`53`	`53`	`{`
`54`		`- return tf2_ros::fromMsg(p.header.stamp);`
	`54`	`+ return tf2::TimePointFromMsg(p.header.stamp);`
`55`	`55`	`}`
`56`	`56`
`57`	`57`	`// method to extract frame id from object`
`@@ -100,17 +100,6 @@ void doTransform(`
`100`	`100`	`*z_out = point.z();`
`101`	`101`	`}`
`102`	`102`	`}`
`103`		`-inline`
`104`		`-sensor_msgs::msg::PointCloud2 toMsg(const sensor_msgs::msg::PointCloud2 & in)`
`105`		`-{`
`106`		`- return in;`
`107`		`-}`
`108`		`-inline`
`109`		`-void fromMsg(const sensor_msgs::msg::PointCloud2 & msg, sensor_msgs::msg::PointCloud2 & out)`
`110`		`-{`
`111`		`- out = msg;`
`112`		`-}`
`113`		`-`
`114`	`103`	`} // namespace tf2`
`115`	`104`
`116`	`105`	`#endif // TF2_SENSOR_MSGS__TF2_SENSOR_MSGS_HPP_`