Skip to content

Fixes #63 #64

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
rsasaki0109 merged 6 commits into from
Jul 11, 2025
Merged

Fixes #63 #64

Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
154de93
変更：PCDマップ読み取りの場所で、PLYファイルも読み取れるようにした
abudori3939 Jul 3, 2025
c95b50a
Merge remote-tracking branch 'upstream/main'
abudori3939 Jul 7, 2025
2336f53
追加：map->odomのTF変換モードを追加
abudori3939 Jul 8, 2025
b497564
Merge pull request #1 from abudori3939/feat/add-tf-map-odom
abudori3939 Jul 8, 2025
9863f43
修正：map->odomのTFのタイムスタンプ漏れを解消
abudori3939 Jul 10, 2025
c71f596
修正：本家取り込み、コンフリクト解消
abudori3939 Jul 10, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions src/lidar_localization_component.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -533,6 +533,7 @@ void PCLLocalization::cloudReceived(const sensor_msgs::msg::PointCloud2::ConstSh

tf2::Transform map_to_odom_tf = map_to_base_link_tf * odom_to_base_link_tf.inverse();
geometry_msgs::msg::TransformStamped map_to_odom_stamped;
map_to_odom_stamped.header.stamp = msg->header.stamp;
map_to_odom_stamped.header.frame_id = global_frame_id_;
map_to_odom_stamped.child_frame_id = odom_frame_id_;
map_to_odom_stamped.transform = tf2::toMsg(map_to_odom_tf);
Expand Down