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fix: typo #196

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merged 1 commit into from
Jul 27, 2023
Merged

fix: typo #196

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2 changes: 1 addition & 1 deletion ros/ros1/Utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -112,7 +112,7 @@ inline std::unique_ptr<PointCloud2> CreatePointCloud2Msg(const size_t n_points,
offset = addPointField(*cloud_msg, "z", 1, PointField::FLOAT32, offset);
offset += sizeOfPointField(PointField::FLOAT32);
if (timestamp) {
// asuming timestamp on a velodyne fashion for now (between 0.0 and 1.0)
// assuming timestamp on a velodyne fashion for now (between 0.0 and 1.0)
offset = addPointField(*cloud_msg, "time", 1, PointField::FLOAT64, offset);
offset += sizeOfPointField(PointField::FLOAT64);
}
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6 changes: 3 additions & 3 deletions ros/ros2/OdometryServer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,12 +73,12 @@ OdometryServer::OdometryServer(const rclcpp::NodeOptions &options)
// Construct the main KISS-ICP odometry node
odometry_ = kiss_icp::pipeline::KissICP(config_);

// Intialize subscribers
// Initialize subscribers
pointcloud_sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(
"pointcloud_topic", rclcpp::SensorDataQoS(),
std::bind(&OdometryServer::RegisterFrame, this, std::placeholders::_1));

// Intialize publishers
// Initialize publishers
rclcpp::QoS qos(rclcpp::KeepLast{queue_size_});
odom_publisher_ = create_publisher<nav_msgs::msg::Odometry>("odometry", qos);
frame_publisher_ = create_publisher<sensor_msgs::msg::PointCloud2>("frame", qos);
Expand All @@ -88,7 +88,7 @@ OdometryServer::OdometryServer(const rclcpp::NodeOptions &options)
// Initialize the transform broadcaster
tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(*this);

// Intialize trajectory publisher
// Initialize trajectory publisher
path_msg_.header.frame_id = odom_frame_;
traj_publisher_ = create_publisher<nav_msgs::msg::Path>("trajectory", qos);

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2 changes: 1 addition & 1 deletion ros/ros2/Utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -114,7 +114,7 @@ inline std::unique_ptr<PointCloud2> CreatePointCloud2Msg(const size_t n_points,
offset = addPointField(*cloud_msg, "z", 1, PointField::FLOAT32, offset);
offset += sizeOfPointField(PointField::FLOAT32);
if (timestamp) {
// asuming timestamp on a velodyne fashion for now (between 0.0 and 1.0)
// assuming timestamp on a velodyne fashion for now (between 0.0 and 1.0)
offset = addPointField(*cloud_msg, "time", 1, PointField::FLOAT64, offset);
offset += sizeOfPointField(PointField::FLOAT64);
}
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