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ros-perception / laser_geometry

Provides the LaserProjection class for turning laser scan data into point clouds.
BSD 3-Clause "New" or "Revised" License
157 stars 114 forks source link

Fix Duration casting issue leading to no undistortion #83

Closed MarcoLm993 closed 2 years ago

MarcoLm993 commented 3 years ago

The end time of the LaserScan was not calculated correctly due to a casting error: the scan duration (in seconds) was cast to int. This lead it being 0 most times and prevented the correct laser end pose from being retrieved from the TF Buffer.

MarcoLm993 commented 2 years ago

Good morning,

is there some procedure I should follow to get this PR reviewed? Thanks a lot.

FYI: @mabelzhang

mabelzhang commented 2 years ago

Yep thank you for reviewing!! I would not have known about the detailed timing points you brought up.

MarcoLm993 commented 2 years ago

Good afternoon. Is there anything preventing this PR from being merged? Actually, I cannot do it myself even if this is already approved. Thanks a lot :)

jonbinney commented 2 years ago

I'll go ahead and merge, since @mabelzhang ok'd it.

jonbinney commented 2 years ago

Huh... that's odd.... I clicked the "merge" button; then github error'd. Now it says there is a merge conflict for this PR, but looking at the git history, it actually successfully merged this already. I'll close this PR since it has been merged.

MarcoLm993 commented 2 years ago

Thanks a lot :)