Merge pull request #1848 from doronhi/ros2-fix-pc-size

ROS2 - Fix pointcloud message size when no texture is added.
IntelRealSense · May 5, 2021 · 05e05a1 · 05e05a1
2 parents 61e1a4b + 5864a4d
commit 05e05a1
Showing 1 changed file with 0 additions and 1 deletion.
diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
@@ -2398,7 +2398,6 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const rclcpp::Time& t,
     else
     {
         std::string format_str = "intensity";
-        _msg_pointcloud.point_step = addPointField(_msg_pointcloud, format_str.c_str(), 1, sensor_msgs::msg::PointField::FLOAT32, _msg_pointcloud.point_step);
         _msg_pointcloud.row_step = _msg_pointcloud.width * _msg_pointcloud.point_step;
         _msg_pointcloud.data.resize(_msg_pointcloud.height * _msg_pointcloud.row_step);