Revert "Smoothly move PCL given a moving frame_id (ros-visualization#…

…1655)" This reverts commit 7bdbeea.
rhaschke · Sep 24, 2021 · 84fcce3 · 84fcce3
1 parent 723a387
commit 84fcce3
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diff --git a/src/rviz/default_plugin/point_cloud_common.cpp b/src/rviz/default_plugin/point_cloud_common.cpp
@@ -637,23 +637,6 @@ void PointCloudCommon::update(float /*wall_dt*/, float /*ros_dt*/)
     new_color_transformer_ = false;
   }
 
-  for (CloudInfoPtr& cloud_info : cloud_infos_)
-  {
-    if (!context_->getFrameManager()->getTransform(cloud_info->message_->header.frame_id, ros::Time(),
-                                                   cloud_info->position_, cloud_info->orientation_))
-    {
-      std::stringstream ss;
-      ss << "Failed to transform from frame [" << cloud_info->message_->header.frame_id << "] to frame ["
-         << context_->getFrameManager()->getFixedFrame() << "]";
-      display_->setStatusStd(StatusProperty::Error, "Message", ss.str());
-    }
-    else
-    {
-      cloud_info->scene_node_->setPosition(cloud_info->position_);
-      cloud_info->scene_node_->setOrientation(cloud_info->orientation_);
-    }
-  }
-
   updateStatus();
 }
 

diff --git a/src/test/point_cloud_test.py b/src/test/point_cloud_test.py