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Publish map in odom_lidar frame #417

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Publish map in odom_lidar frame #417

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5 changes: 4 additions & 1 deletion ros/src/OdometryServer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -200,7 +200,10 @@ void OdometryServer::PublishClouds(const std::vector<Eigen::Vector3d> frame,

frame_publisher_->publish(std::move(EigenToPointCloud2(frame, header)));
kpoints_publisher_->publish(std::move(EigenToPointCloud2(keypoints, header)));
map_publisher_->publish(std::move(EigenToPointCloud2(kiss_map, kiss_pose, header)));

auto local_map_header = header;
local_map_header.frame_id = lidar_odom_frame_;
map_publisher_->publish(std::move(EigenToPointCloud2(kiss_map, local_map_header)));
}
} // namespace kiss_icp_ros

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9 changes: 0 additions & 9 deletions ros/src/Utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -228,13 +228,4 @@ inline std::unique_ptr<PointCloud2> EigenToPointCloud2(const std::vector<Eigen::
[&](const auto &point) { return T * point; });
return EigenToPointCloud2(points_t, header);
}

inline std::unique_ptr<PointCloud2> EigenToPointCloud2(const std::vector<Eigen::Vector3d> &points,
const std::vector<double> &timestamps,
const Header &header) {
auto msg = CreatePointCloud2Msg(points.size(), header, true);
FillPointCloud2XYZ(points, *msg);
FillPointCloud2Timestamp(timestamps, *msg);
return msg;
}
} // namespace kiss_icp_ros::utils
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