Merge pull request #126 from OctoMap/topic/fix-ros2-pcl

[ROS2] Fix deprecated PCL API: setFilterLimitsNegative -> setNegative

Author: wxmerkt

.github/workflows/industrial_ci_build_and_test.yml

@@ -6,20 +6,11 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: rolling}
-          - {ROS_DISTRO: rolling, PRERELEASE: true}
+          # - {ROS_DISTRO: rolling}
           - {ROS_DISTRO: humble, PRERELEASE: true}
           - {ROS_DISTRO: iron, PRERELEASE: true}
-    # env:
-    #   CCACHE_DIR: /github/home/.ccache             # Enable ccache
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
-      # # This step will fetch/store the directory used by ccache before/after the ci run
-      # - uses: actions/cache@v3
-      #   with:
-      #     path: ${{ env.CCACHE_DIR }}
-      #     key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-      # Run industrial_ci
+      - uses: actions/checkout@v4
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{ matrix.env }}

octomap_server/src/octomap_server.cpp

@@ -413,9 +413,6 @@ void OctomapServer::insertCloudCallback(const PointCloud2::ConstSharedPtr cloud)
     return;
   }
 
-  Eigen::Matrix4f sensor_to_world =
-    tf2::transformToEigen(sensor_to_world_transform_stamped.transform).matrix().cast<float>();
-
   // set up filter for height range, also removes NANs:
   pcl::PassThrough<PCLPoint> pass_x;
   pass_x.setFilterFieldName("x");
@@ -450,14 +447,8 @@ void OctomapServer::insertCloudCallback(const PointCloud2::ConstSharedPtr cloud)
           "You need to set the base_frame_id or disable filter_ground.");
     }
 
-
-    Eigen::Matrix4f sensor_to_base =
-      tf2::transformToEigen(sensor_to_base_transform_stamped.transform).matrix().cast<float>();
-    Eigen::Matrix4f base_to_world =
-      tf2::transformToEigen(base_to_world_transform_stamped.transform).matrix().cast<float>();
-
     // transform pointcloud from sensor frame to fixed robot frame
-    pcl::transformPointCloud(pc, pc, sensor_to_base);
+    pcl_ros::transformPointCloud(pc, pc, sensor_to_base_transform_stamped);
     pass_x.setInputCloud(pc.makeShared());
     pass_x.filter(pc);
     pass_y.setInputCloud(pc.makeShared());
@@ -467,11 +458,11 @@ void OctomapServer::insertCloudCallback(const PointCloud2::ConstSharedPtr cloud)
     filterGroundPlane(pc, pc_ground, pc_nonground);
 
     // transform clouds to world frame for insertion
-    pcl::transformPointCloud(pc_ground, pc_ground, base_to_world);
-    pcl::transformPointCloud(pc_nonground, pc_nonground, base_to_world);
+    pcl_ros::transformPointCloud(pc_ground, pc_ground, base_to_world_transform_stamped);
+    pcl_ros::transformPointCloud(pc_nonground, pc_nonground, base_to_world_transform_stamped);
   } else {
     // directly transform to map frame:
-    pcl::transformPointCloud(pc, pc, sensor_to_world);
+    pcl_ros::transformPointCloud(pc, pc, sensor_to_world_transform_stamped);
 
     // just filter height range:
     pass_x.setInputCloud(pc.makeShared());
@@ -1110,7 +1101,7 @@ void OctomapServer::filterGroundPlane(
       second_pass.setFilterLimits(-ground_filter_plane_distance_, ground_filter_plane_distance_);
       second_pass.setInputCloud(pc.makeShared());
       second_pass.filter(ground);
-      second_pass.setFilterLimitsNegative(true);
+      second_pass.setNegative(true);
       second_pass.filter(nonground);
     }
     // debug: