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 | 1 | initial version |
It appears that in the transformLaserScanToPointCloud function a lookupTransform is called at time:
scan_in.header.stamp + ros::Duration ().fromSec (scan_in.ranges.size () * scan_in.time_increment)
My quick-fix solution was to call waitForTransform and include that added time before calling transformLaserScanToPointCloud.
| | 2 | No.2 Revision |
It appears that in the transformLaserScanToPointCloud function a lookupTransform is called at time:
scan_in.header.stamp + ros::Duration ().fromSec (scan_in.ranges.size () * scan_in.time_increment)
My quick-fix solution was to call waitForTransform and include that added time before calling transformLaserScanToPointCloud.
Source: https://github.com/ros-perception/laser_geometry/blob/hydro-devel/src/laser_geometry.cpp
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