the two laptops are time-synchronized using chrony, however, the transformPointCloud function says it does not have the transformation:[ERROR] [1408639544.612446512]: Unable to lookup transform, cache is empty, when looking up transform from frame [/X1_rgb_optical_frame] to frame...
您尚未初始化tf_listener,因此将取消对空指针的引用。所需的最小更改应为:
矢量可能是唯一彻底的解决方案 业务数据绑定 提起矢量一般都会想到SVG,但这是个坑人的玩意儿,...
I'm trying to make a node to use a tf listener and subscribe to a PointCloud2 topic and output a new PointCloud2 topic that has been transformed to ground frame, using the pcl_ros::transformPointCloud function. The code runs fine until it receives a message, when it fails upon the ...
PointCloud<VelodynePointXYZIRT>::Ptr transformed_cloud (new pcl::PointCloud<PointXYZIRT>()); pcl::transformPointCloud (*cloud, *transformed_cloud, transform_1); pcl::PCLPointCloud2 cloud_p; pcl::toPCLPointCloud2(*transformed_cloud, cloud_p); sensor_msgs::PointCloud2 output; ...
tf_broadcaster_->sendTransform(tfMapOdom); publishMapPointCloud(); } } void RgbdSlamNode::publishMapPointCloud() { sensor_msgs::msg::PointCloud2 mapPCL; interface->getCurrentMapPoints(mapPCL); map_points_pub->publish(mapPCL); } void RgbdSlamNode::publishMapData() { slam_msgs::msg:...
@@ -47,14 +47,13 @@ Cloud Data) file format. #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl_conversions/pcl_conversions.h> #include <tf2_ros/buffer.h> #include <tf2_ros/transform_listener.h> #include <rclcpp/rclcpp.hpp> #include "rclcpp_components/register...
Point Cloud Library - I/O library libpcl-ros-tf1d (>= 1.7.4) Bridge between Robot OS library (ROS) and PCL -- tf library librosbag-storage4d (>= 1.15.14+ds) Robot OS library for rosbag_storage librosconsole3d (>= 1.14.3) library for librosconsole ...
Point Cloud Library - I/O library libpcl-ros-tf1d (>= 1.7.2) Bridge between Robot OS library (ROS) and PCL -- tf library librosbag-storage4d (>= 1.15.9+ds1) Robot OS library for rosbag_storage librosconsole3d (>= 1.14.3) library for librosconsole ...
(argc, argv, "-D", downsampling_leaf_size); // read point clouds vector<PointCloud> data; std::string extension (".pcd"); for (int i = 1; i < argc; i++) { string fname = string (argv[i]); if (fname.size () <= extension.size ()) continue; transform (fname.begin (...