fixed limit on pcl range cutoff

ryanpennings · Jul 31, 2022 · 1a9f702 · 1a9f702
1 parent 76214d1
commit 1a9f702
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/laserscan_multi_merger.cpp b/src/laserscan_multi_merger.cpp
@@ -216,7 +216,7 @@ void LaserscanMerger::scanCallback(sensor_msgs::msg::LaserScan::SharedPtr scan,
 	{
 		// Verify that TF knows how to transform from the received scan to the destination scan frame
 		tf_buffer_->lookupTransform(scan->header.frame_id.c_str(), destination_frame.c_str(), scan->header.stamp, rclcpp::Duration(1, 0));
-		projector_.transformLaserScanToPointCloud(scan->header.frame_id, *scan, tmpCloud1, *tf_buffer_, laser_geometry::channel_option::Distance);
+		projector_.transformLaserScanToPointCloud(scan->header.frame_id, *scan, tmpCloud1, *tf_buffer_, range_max);
 		pcl_ros::transformPointCloud(destination_frame.c_str(), tmpCloud1, tmpCloud2, *tf_buffer_);
 	}
 	catch (tf2::TransformException &ex)