icp_odom: Fixed scan without stamps field after projecting to point c…

…loud before deskewing
introlab · Nov 27, 2023 · e3452e1 · e3452e1
1 parent 8129ace
commit e3452e1
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Showing 2 changed files with 7 additions and 0 deletions.
diff --git a/rtabmap_conversions/src/MsgConversion.cpp b/rtabmap_conversions/src/MsgConversion.cpp
@@ -2853,6 +2853,12 @@ bool deskew_impl(
 	if(offsetTime < 0)
 	{
 		ROS_ERROR("Input cloud doesn't have \"t\", \"time\", \"stamps\" or \"timestamp\" field!");
+		std::string fieldsReceived;
+		for(size_t i=0; i<input.fields.size(); ++i)
+		{
+			fieldsReceived += input.fields[i].name + " ";
+		}
+		ROS_ERROR("Input cloud has these fields: %s", fieldsReceived.c_str());
 		return false;
 	}
 	if(offsetX < 0)

diff --git a/rtabmap_odom/src/nodelets/icp_odometry.cpp b/rtabmap_odom/src/nodelets/icp_odometry.cpp
@@ -377,6 +377,7 @@ class ICPOdometry : public OdometryROS
 					*scanMsg, 
 					scanOut,
 					this->tfListener(),
+					-1.0,
 					laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Timestamp);
 
 			if(guessFrameId().empty() && previousStamp() > 0 && !velocityGuess().isNull())