CopterExpress/clover
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Remove all unneeded static’s

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This commit is contained in:
Oleg Kalachev
2021-05-19 23:18:14 +03:00
parent df5e83e416
commit 150ecbe29d
3 changed files with 6 additions and 6 deletions
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8
clover/src/optical_flow.cpp
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@@ -152,7 +152,7 @@ private:
cv::Point2d shift = cv::phaseCorrelate(prev_, curr_, hann_, &response);
// Publish raw shift in pixels
static geometry_msgs::Vector3Stamped shift_vec;
geometry_msgs::Vector3Stamped shift_vec;
shift_vec.header.stamp = msg->header.stamp;
shift_vec.header.frame_id = msg->header.frame_id;
shift_vec.vector.x = shift.x;
@@ -179,7 +179,7 @@ private:
double flow_y = atan2(points_undist[0].y, focal_length_y);
// // Convert to FCU frame
static geometry_msgs::Vector3Stamped flow_camera, flow_fcu;
geometry_msgs::Vector3Stamped flow_camera, flow_fcu;
flow_camera.header.frame_id = msg->header.frame_id;
flow_camera.header.stamp = msg->header.stamp;
flow_camera.vector.x = flow_y; // +y means counter-clockwise rotation around Y axis
@@ -198,7 +198,7 @@ private:
if (calc_flow_gyro_) {
try {
auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
static geometry_msgs::Vector3Stamped flow_gyro_fcu;
geometry_msgs::Vector3Stamped flow_gyro_fcu;
tf_buffer_->transform(flow_gyro_camera, flow_gyro_fcu, fcu_frame_id_);
flow_.integrated_xgyro = flow_gyro_fcu.vector.x;
flow_.integrated_ygyro = flow_gyro_fcu.vector.y;
@@ -235,7 +235,7 @@ publish_debug:
}
// Publish estimated angular velocity
static geometry_msgs::TwistStamped velo;
geometry_msgs::TwistStamped velo;
velo.header.stamp = msg->header.stamp;
velo.header.frame_id = fcu_frame_id_;
velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();

2
clover/src/simple_offboard.cpp
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@@ -712,7 +712,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
}
if (sp_type == VELOCITY) {
static Vector3Stamped vel;
Vector3Stamped vel;
vel.header.frame_id = frame_id;
vel.header.stamp = stamp;
vel.vector.x = vx;

2
clover/src/vpe_publisher.cpp
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@@ -53,7 +53,7 @@ void publishZero(const ros::TimerEvent& e)
}
ROS_INFO_THROTTLE(10, "publish zero");
static geometry_msgs::PoseStamped zero;
geometry_msgs::PoseStamped zero;
zero.header.frame_id = local_frame_id;
zero.header.stamp = e.current_real;
zero.pose.orientation.w = 1;