HDL_Graph_slam骨头记(3)
#include <memory> #include <iostream> #include <ros/ros.h> #include <ros/time.h> #include <ros/duration.h> #include <pcl_ros/point_cloud.h> #include <tf_conversions/tf_eigen.h> #include <tf/transform_broadcaster.h> #include <std_msgs/Time.h> #include <nav_msgs/Odometry.h> #include <sensor_msgs/PointCloud2.h> #include <nodelet/nodelet.h> #include <pluginlib/class_list_macros.h> #include <pcl/filters/voxel_grid.h> #include <pcl/filters/passthrough.h> #include <pcl/filters/approximate_voxel_grid.h> #include <hdl_graph_slam/ros_utils.hpp> #include <hdl_graph_slam/registrations.hpp> namespace hdl