ROS1 odometry and cloud publisher #12
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@simone-ferrari Hi! Do you think that the proposed changes can be merged here? |
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Hi!
Here's a small extension to your work that adds an optional ROS1 publisher. Hope that will be useful :)
This PR has one limitation regarding ROS clock handling: while all your work and the published messages that I added here use correct timestamps from the original ROS bag file, the ROS log messages (and RViz main display) use clock from
roscore. This can be addressed in the future, hopefully with little extra effort.Update: This has been tested on Hilti 2021 datasets.
Let me know if there is something I can improve to see this PR merged :)
Here's a small sample:
Kind regards!