| 130 | } |
| 131 | |
| 132 | void ObstacleLayer::LaserScanCallback(const sensor_msgs::LaserScanConstPtr &message, |
| 133 | const std::shared_ptr<ObservationBuffer> &buffer) { |
| 134 | sensor_msgs::PointCloud2 temp_cloud; |
| 135 | temp_cloud.header = message->header; |
| 136 | try { |
| 137 | projector_.transformLaserScanToPointCloud(temp_cloud.header.frame_id, *message, temp_cloud, *tf_); |
| 138 | } |
| 139 | catch (tf::TransformException &ex) { |
| 140 | projector_.projectLaser(*message, temp_cloud); |
| 141 | } |
| 142 | buffer->Lock(); |
| 143 | buffer->BufferCloud(temp_cloud); |
| 144 | buffer->Unlock(); |
| 145 | } |
| 146 | |
| 147 | void ObstacleLayer::LaserScanValidInfoCallback(const sensor_msgs::LaserScanConstPtr &raw_message, |
| 148 | const std::shared_ptr<ObservationBuffer> &buffer) { |
nothing calls this directly
no test coverage detected