Commit f7ecfa1b authored by Stewart Worrall's avatar Stewart Worrall
Browse files

updated the h264 bag playback callbacks, fixed a bug with the velodyne_correction

parent 20921f9a
......@@ -49,15 +49,16 @@ public:
private_nh.setParam("bag_file", bag_file);
}
void SendToPublisher(ros::Publisher &publisher, rosbag::MessageInstance message) {
void MessagePublisher(ros::Publisher &publisher, rosbag::MessageInstance message) {
auto lidar_msg = message.instantiate<velodyne_msgs::VelodyneScan>();
if (lidar_msg && message.getTopic() == "/velodyne/front/velodyne_packets") {
correction_pipeline.receive_message(lidar_msg);
}
// if you want to publish all of the bag topics, include the following line
publisher.publish(message);
else {
// if you want to publish all of the bag topics, include the following line
publisher.publish(message);
}
}
CorrectionPipeline correction_pipeline;
......@@ -79,7 +80,7 @@ public:
private_nh.setParam("bag_file", bag_file);
}
void SendToPublisher(ros::Publisher &publisher, rosbag::MessageInstance message) {
void MessagePublisher(ros::Publisher &publisher, rosbag::MessageInstance message) {
auto tf_msg = message.instantiate<tf2_msgs::TFMessage>();
if (tf_msg && message.getTopic() == "/tf_static") {
......
......@@ -35,7 +35,7 @@ int main(int argc, char **argv) {
VelodyneCorrection::VelodyneCorrection(std::string param_path,
std::string frame) : MotionCorrection(frame, param_path, packets_per_scan) {
std::string frame) : MotionCorrection(param_path, frame, packets_per_scan) {
std::string s_path;
std::stringstream ss;
......
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