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chore: tf2_ros to hpp headers #480

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Merged
benemer merged 1 commit into from
Nov 14, 2025
Merged

chore: tf2_ros to hpp headers #480

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5 changes: 4 additions & 1 deletion ros/src/OdometryServer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,9 @@
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <std_msgs/msg/string.hpp>
#include <std_srvs/srv/empty.hpp>
#include <tf2_ros/static_transform_broadcaster.hpp>
#include <tf2_ros/transform_broadcaster.hpp>

namespace {
Sophus::SE3d LookupTransform(const std::string &target_frame,
const std::string &source_frame,
Expand Down Expand Up @@ -152,7 +155,7 @@ void OdometryServer::initializeParameters(kiss_icp::pipeline::KISSConfig &config
RCLCPP_INFO(this->get_logger(), "\tMax number of threads: %d", config.max_num_threads);
if (config.max_range < config.min_range) {
RCLCPP_WARN(get_logger(),
"[WARNING] max_range is smaller than min_range, settng min_range to 0.0");
"[WARNING] max_range is smaller than min_range, setting min_range to 0.0");
config.min_range = 0.0;
}
}
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7 changes: 3 additions & 4 deletions ros/src/OdometryServer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,16 +26,15 @@
#include "kiss_icp/pipeline/KissICP.hpp"

// ROS 2
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_listener.h>

#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <std_msgs/msg/header.hpp>
#include <std_srvs/srv/empty.hpp>
#include <string>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_broadcaster.hpp>
#include <tf2_ros/transform_listener.hpp>

namespace kiss_icp_ros {

Expand Down
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