Fix

Signed-off-by: ElSayed ElSheikh <[email protected]>

Author: elsayedelsheikh

nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp

@@ -102,11 +102,13 @@ class PointCloud : public Source
   #if RCLCPP_VERSION_GTE(30, 0, 0)
   std::shared_ptr<point_cloud_transport::PointCloudTransport> pct_;
   point_cloud_transport::Subscriber data_sub_;
-  std::string transport_type_;
   #else
   nav2::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr data_sub_;
   #endif
 
+  // Transport type used for PointCloud messages (e.g., raw or compressed)
+  std::string transport_type_;
+
   // Minimum and maximum height of PointCloud projected to 2D space
   double min_height_, max_height_;
   // Minimum range from sensor origin to filter out close points

nav2_costmap_2d/plugins/obstacle_layer.cpp

@@ -304,7 +304,7 @@ void ObstacleLayer::onInitialize()
       #if RCLCPP_VERSION_GTE(30, 0, 0)
       sub = std::make_shared<point_cloud_transport::SubscriberFilter>(
         *node, topic, transport_type, custom_qos_profile, sub_opt);
-        // For Kilted compatibility in Message Filters API change
+      // For Kilted compatibility in Message Filters API change
       #elif RCLCPP_VERSION_GTE(29, 6, 0)
       sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::PointCloud2>>(
         node, topic, custom_qos_profile, sub_opt);