hdl_localization_nodelet.cpp问题记录

Posted 2021-08-31 COCO_PEAK_NOODLE

问题：error: no matching function for call to ‘transformPointCloud(std::__cxx11::string&, pcl::PointCloudpcl::PointXYZI&, pcl::PointCloudpcl::PointXYZI&, tf2_ros::Buffer&)’

问题原因：pcl_ros 不支持tf2,改成tf版本

    /*old
    if(!pcl_ros::transformPointCloud(odom_child_frame_id, *pcl_cloud, *cloud, this->tf_buffer)) {
        NODELET_ERROR("point cloud cannot be transformed into target frame!!");
        return;
    */

    //below is new
         if(!tf_listener.canTransform(odom_child_frame_id, pcl_cloud->header.frame_id, ros::Time(0))) {
        std::cerr << "failed to find transform between " << odom_child_frame_id << " and " << pcl_cloud->header.frame_id << std::endl;
      }

      tf::StampedTransform transform;
      tf_listener.waitForTransform(odom_child_frame_id, pcl_cloud->header.frame_id, ros::Time(0), ros::Duration(2.0));
      tf_listener.lookupTransform(odom_child_frame_id, pcl_cloud->header.frame_id, ros::Time(0), transform);

    //okagv
        if(!pcl_ros::transformPointCloud(odom_child_frame_id,*pcl_cloud, *cloud, tf_listener)) {
        NODELET_ERROR("point cloud cannot be transformed into target frame!!");
        return;
    }

另一个问题，加上头文件

#include <atomic>