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Publish map in odom_lidar frame #417

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merged 2 commits into from
Jan 7, 2025
Merged

Publish map in odom_lidar frame #417

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07020e8
Publish map with correct frame
benemer Dec 18, 2024
0135d1e
Isolate changes
tizianoGuadagnino Jan 6, 2025
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5 changes: 4 additions & 1 deletion ros/src/OdometryServer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -200,7 +200,10 @@ void OdometryServer::PublishClouds(const std::vector<Eigen::Vector3d> frame,

frame_publisher_->publish(std::move(EigenToPointCloud2(frame, header)));
kpoints_publisher_->publish(std::move(EigenToPointCloud2(keypoints, header)));
map_publisher_->publish(std::move(EigenToPointCloud2(kiss_map, kiss_pose, header)));

auto local_map_header = header;
local_map_header.frame_id = lidar_odom_frame_;
map_publisher_->publish(std::move(EigenToPointCloud2(kiss_map, local_map_header)));
}
} // namespace kiss_icp_ros

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