Function pointcloud_callback

ros_node/static_mapping_node.cpp:60–69

constexpr char kMapFrameId[] = "/map";

void pointcloud_callback(const sensor_msgs::PointCloud2::ConstPtr& msg) {
  pcl::PCLPointCloud2 pcl_pc2;
  pcl_conversions::toPCL(*msg, pcl_pc2);
  MapBuilder::PointCloudPtr incoming_cloud(new MapBuilder::PointCloudType);
  pcl::fromPCLPointCloud2(pcl_pc2, *incoming_cloud);

  std::vector<int> inliers;  // no use, just for the function
  pcl::removeNaNFromPointCloud(*incoming_cloud, *incoming_cloud, inliers);
  map_builder->InsertPointcloudMsg(incoming_cloud);
}

void imu_callback(const sensor_msgs::Imu& imu_msg) {
  ImuMsg::Ptr incomming_imu(new ImuMsg);