From c5c64d33548ad744036b95ed18c80f298fa3aed8 Mon Sep 17 00:00:00 2001 From: Rafael Rey Date: Tue, 27 Oct 2020 15:23:48 +0100 Subject: [PATCH 1/2] Uncommented stamp of the pointcloud message --- src/DataHandlerClass.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/DataHandlerClass.cpp b/src/DataHandlerClass.cpp index 5ce6ec5..a7a4d7b 100644 --- a/src/DataHandlerClass.cpp +++ b/src/DataHandlerClass.cpp @@ -348,10 +348,9 @@ void *DataUARTHandler::sortIncomingData( void ) mmwData.numObjOut = mmwData.header.numDetectedObj; } - // RScan->header.seq = 0; - // RScan->header.stamp = (uint64_t)(ros::Time::now()); - // RScan->header.stamp = (uint32_t) mmwData.header.timeCpuCycles; + RScan->header.stamp = ros::Time::now(); RScan->header.frame_id = frameID; + RScan->height = 1; RScan->width = mmwData.numObjOut; RScan->is_dense = 1; From 2a91444be255097b93e3e67f9a9f5d10b91f5729 Mon Sep 17 00:00:00 2001 From: Rafael Rey Date: Tue, 27 Oct 2020 17:39:16 +0100 Subject: [PATCH 2/2] Added timestamp to pcl message through pcl conversions function --- include/DataHandlerClass.h | 2 ++ src/DataHandlerClass.cpp | 4 +--- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/include/DataHandlerClass.h b/include/DataHandlerClass.h index a018381..ef727db 100644 --- a/include/DataHandlerClass.h +++ b/include/DataHandlerClass.h @@ -19,6 +19,8 @@ #include #include #include +#include + #define COUNT_SYNC_MAX 2 class DataUARTHandler{ diff --git a/src/DataHandlerClass.cpp b/src/DataHandlerClass.cpp index a7a4d7b..7e75ef3 100644 --- a/src/DataHandlerClass.cpp +++ b/src/DataHandlerClass.cpp @@ -348,9 +348,7 @@ void *DataUARTHandler::sortIncomingData( void ) mmwData.numObjOut = mmwData.header.numDetectedObj; } - RScan->header.stamp = ros::Time::now(); - RScan->header.frame_id = frameID; - + pcl_conversions::toPCL(ros::Time::now(), RScan->header.stamp); RScan->height = 1; RScan->width = mmwData.numObjOut; RScan->is_dense = 1;