[upgrade] configurable tf_duration

HuaYuXiao · Dec 24, 2024 · 8dc5ad3 · 8dc5ad3
1 parent 1b371bd
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Showing 3 changed files with 9 additions and 3 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -7,6 +7,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## v2.1.4 - 2024-12-24
 - [upgrade] set `queue_size` of `Subscriber` to `boost::thread::hardware_concurrency()`
+- [upgrade] check if both `frame_id`s are the same
+- [upgrade] configurable `tf_duration`
 
 ## v2.1.3: 2024-08-23
 - [new feature] 转发lidar_frame坐标系下的点云到world坐标系下

diff --git a/config/merge_pcl.yaml b/config/merge_pcl.yaml
@@ -3,6 +3,7 @@ pcl2_topic_0: /livox/lidar
 pcl2_frame_0: laser_livox
 pcl2_topic_1: /realsense/depth_camera/depth/points
 pcl2_frame_0: realsense_camera_frame
+tf_duration: 0.1
 pcl2_topic_out: /sensor/pcl2_out
 pcl2_frame_out: base_link
 timeout: 0.1
diff --git a/include/merge_pcl/merge_pcl.h b/include/merge_pcl/merge_pcl.h
@@ -39,13 +39,16 @@ class PointCloudMerger {
     ros::NodeHandle nh;
 
     int pcl2_source_num;
-    std::string pcl2_topic_0, pcl2_topic_1, pcl2_topic_out;
-    std::string pcl2_frame_0, pcl2_frame_1, pcl2_frame_out;
-
+    std::string pcl2_topic_0, pcl2_frame_0;
+    std::string pcl2_topic_1, pcl2_frame_1;
     shared_ptr<message_filters::Subscriber<sensor_msgs::PointCloud2>> pcl2_sub_0, pcl2_sub_1;
     int queue_size;
     Synchronizer synchronizer_;
+
     tf::TransformListener listener0, listener1;
+    double tf_duration;
+
+    std::string pcl2_topic_out, pcl2_frame_out;
     ros::Publisher pcl2_pub;
 };