ros-noetic-toposens-pointcloud.patch

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index a4c4c9d3..4291d54b 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -5,7 +5,7 @@
 add_library(
   ${PROJECT_NAME}
   lib/mapping.cpp
-  logging.cpp
+  # logging.cpp
 )
 
 add_dependencies(
diff --git a/src/ts_pointcloud_ros.cpp b/src/ts_pointcloud_ros.cpp
index 0536ad87..60ac761d 100644
--- a/src/ts_pointcloud_ros.cpp
+++ b/src/ts_pointcloud_ros.cpp
@@ -31,10 +31,10 @@ TSPointCloudROS::TSPointCloudROS(ros::NodeHandle nh, ros::NodeHandle private_nh)
 
   // Processing entities
   pointTransform_ = std::make_unique<Mapping>();
-  if (pcd_save_interval > 0)
-  {
-    log_thread_ = new boost::thread(&Logging::logPointcloud);
-  }
+  //if (pcd_save_interval > 0)
+  //{
+  //  log_thread_ = new boost::thread(&Logging::logPointcloud);
+  //}
 }
 
 TSPointCloudROS::~TSPointCloudROS()
@@ -84,7 +84,9 @@ void TSPointCloudROS::cloudCallback(const toposens_msgs::TsScan::ConstPtr &msg)
 
   /// Publish point cloud and normals, if activated
   transformed_cloud->width = transformed_cloud->points.size();
-  cloud_pub_.publish(transformed_cloud);
+  sensor_msgs::PointCloud2 out_cloud;
+  pcl::toROSMsg(*transformed_cloud, out_cloud);
+  cloud_pub_.publish(out_cloud);
 
   if (lifetime_normals_vis_ != 0.0)
   {
@@ -166,4 +168,4 @@ void TSPointCloudROS::publishNormals(XYZINCloud::ConstPtr transformed_cloud)
   }
 }
 
-}  // namespace toposens_pointcloud
\ No newline at end of file
+}  // namespace toposens_pointcloud