<commit_before>#include <ros/ros.h>
#include <stdlib.h>
#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.h>
#include <ros/publisher.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <sensor_msgs/point_cloud_conversion.h>

sensor_msgs::PointCloud2 cloud;
ros::Publisher _pointcloud_pub;
tf::TransformListener *tf_listener;

void nodeCallback(const sensor_msgs::PointCloud2::ConstPtr &msg)
{
    sensor_msgs::PointCloud transformed;
    sensor_msgs::convertPointCloud2ToPointCloud(*msg, transformed);
    tf_listener->transformPointCloud("/mapper",transformed,transformed);

    sensor_msgs::PointCloud2 transformed2;
    sensor_msgs::convertPointCloudToPointCloud2(transformed, transformed2);
    pcl::concatenatePointCloud(transformed2, cloud, cloud);

    _pointcloud_pub.publish(cloud);
}


int main(int argc, char** argv)
{
    ros::init(argc, argv, "map");

    ros::NodeHandle nh;<commit_msg>changed frame name for transform<commit_after>#include <ros/ros.h>
#include <stdlib.h>
#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.h>
#include <ros/publisher.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <sensor_msgs/point_cloud_conversion.h>

sensor_msgs::PointCloud2 cloud;
ros::Publisher _pointcloud_pub;
tf::TransformListener *tf_listener;

void nodeCallback(const sensor_msgs::PointCloud2::ConstPtr &msg)
{
    sensor_msgs::PointCloud transformed;
    sensor_msgs::convertPointCloud2ToPointCloud(*msg, transformed);
    tf_listener->transformPointCloud("/map",transformed,transformed);

    sensor_msgs::PointCloud2 transformed2;
    sensor_msgs::convertPointCloudToPointCloud2(transformed, transformed2);
    pcl::concatenatePointCloud(transformed2, cloud, cloud);

    _pointcloud_pub.publish(cloud);
}


int main(int argc, char** argv)
{
    ros::init(argc, argv, "map");

    ros::NodeHandle nh;
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{'dir': 'git-commits-cleaned', 'id': '5485133', 'n_tokens_mistral': 644, 'n_tokens_neox': 614, 'n_words': 101}