Extract publishing mechanism to a new function #246
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@benemer happy to revert this, I'm merging this to move forward a bit ;) |
tizianoGuadagnino
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Oct 27, 2023
* Fix TF tree usage in ROS 2 wrapper Signed-off-by: Ignacio Vizzo <ignacio@dexory.com> * Transform the pose instead of the pointcloud * remove include * Remove default base_frame parameter value This will make KISS-ICP work ego-centric as default * Remove unused variable * Do not reuse pose_msg.pose * I'm not ever sure why we did that in first instance * Be more explicit about the stamps and frame_id of the headers * Extract publishing mechanism to a new function (#246) * Convert class member function to more useful utility And fix a small bug, the order was of the transformation before was the opposite, and therefore we were obtaining base2cloud. Since we multiply by both sides we can't really see the difference, but it was conceptually wrong. * Bring back debugging clouds to ros driver * re-arange logic on when and when not to publish clouds * fix lofic * Update rviz2 * Loosing my mind already with this debugging info * Backport tf multisensor fix (#245) * Build system changes for tf fix * Modify params for tf fix * Add ROS 1 tf fixes similar to ROS 2 * Update rviz config * Remove unused debug publishers * Remove unnecessary smart pointers * Update ROS 1 to match ROS 2 changes * Fix style * Remove sophus from build system Fixing now the CI is a big pain * Remove unnecessary alias --------- Signed-off-by: Ignacio Vizzo <ignacio@dexory.com> Co-authored-by: Tim Player <tim@overland.ai> Co-authored-by: raw_t <37455909+tizianoGuadagnino@users.noreply.github.com> Co-authored-by: tizianoGuadagnino <frevo93@gmail.com>
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Just opening this to review this a bit easier.
The whole idea of this is to reduce the reading burden when reasoning/inspecting the main logic. Publishing is something no we don't really care :)
Like this, when I look at the main function of the server, I can really see what's going on:
