From d18a16aa0e2a048585c6c82d5ae3ce6923ad5d0d Mon Sep 17 00:00:00 2001
From: h-wata <hirofumi01.watanabe@g.softbank.co.jp>
Date: Wed, 7 Feb 2024 17:31:29 +0900
Subject: [PATCH 1/9] Downsample point cloud function in syncCallback

---
 .../tracker_with_cloud_node.h                 |  1 +
 src/tracker_with_cloud_node.cpp               | 27 ++++++++++++-------
 2 files changed, 19 insertions(+), 9 deletions(-)

diff --git a/include/tracker_with_cloud_node/tracker_with_cloud_node.h b/include/tracker_with_cloud_node/tracker_with_cloud_node.h
index f9f8d7e..312e905 100644
--- a/include/tracker_with_cloud_node/tracker_with_cloud_node.h
+++ b/include/tracker_with_cloud_node/tracker_with_cloud_node.h
@@ -94,6 +94,7 @@ class TrackerWithCloudNode
   void processPointsWithMask(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud, const sensor_msgs::Image& mask,
                              pcl::PointCloud<pcl::PointXYZ>::Ptr& detection_cloud_raw);
   pcl::PointCloud<pcl::PointXYZ>::Ptr msg2TransformedCloud(const sensor_msgs::PointCloud2ConstPtr& cloud_msg);
+  pcl::PointCloud<pcl::PointXYZ>::Ptr downsampleCloudMsg(const sensor_msgs::PointCloud2ConstPtr& cloud_msg);
   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2TransformedCloud(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud,
                                                              const std_msgs::Header& header);
   pcl::PointCloud<pcl::PointXYZ>::Ptr euclideanClusterExtraction(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud);
diff --git a/src/tracker_with_cloud_node.cpp b/src/tracker_with_cloud_node.cpp
index 891e07d..a29e0b8 100644
--- a/src/tracker_with_cloud_node.cpp
+++ b/src/tracker_with_cloud_node.cpp
@@ -50,14 +50,16 @@ void TrackerWithCloudNode::syncCallback(const sensor_msgs::CameraInfo::ConstPtr&
   ros::Time current_call_time = ros::Time::now();
   ros::Duration callback_interval = current_call_time - last_call_time_;
   last_call_time_ = current_call_time;
+  pcl::PointCloud<pcl::PointXYZ>::Ptr downsampled_cloud(new pcl::PointCloud<pcl::PointXYZ>);
+  downsampled_cloud = downsampleCloudMsg(cloud_msg);
 
   pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud;
+  transformed_cloud = cloud2TransformedCloud(downsampled_cloud, cloud_msg->header);
   vision_msgs::Detection3DArray detections3d_msg;
   sensor_msgs::PointCloud2 detection_cloud_msg;
   visualization_msgs::MarkerArray marker_array_msg;
 
   cam_model_.fromCameraInfo(camera_info_msg);
-  transformed_cloud = msg2TransformedCloud(cloud_msg);
   projectCloud(transformed_cloud, yolo_result_msg, cloud_msg->header, detections3d_msg, detection_cloud_msg);
   marker_array_msg = createMarkerArray(detections3d_msg, callback_interval.toSec());
 
@@ -171,6 +173,19 @@ TrackerWithCloudNode::msg2TransformedCloud(const sensor_msgs::PointCloud2ConstPt
   return transformed_cloud;
 }
 
+pcl::PointCloud<pcl::PointXYZ>::Ptr
+TrackerWithCloudNode::downsampleCloudMsg(const sensor_msgs::PointCloud2ConstPtr& cloud_msg)
+{
+  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
+  pcl::fromROSMsg(*cloud_msg, *cloud);
+  pcl::PointCloud<pcl::PointXYZ>::Ptr downsampled_cloud(new pcl::PointCloud<pcl::PointXYZ>);
+  pcl::VoxelGrid<pcl::PointXYZ> voxel_grid;
+  voxel_grid.setInputCloud(cloud);
+  voxel_grid.setLeafSize(voxel_leaf_size_, voxel_leaf_size_, voxel_leaf_size_);
+  voxel_grid.filter(*downsampled_cloud);
+  return downsampled_cloud;
+}
+
 pcl::PointCloud<pcl::PointXYZ>::Ptr
 TrackerWithCloudNode::cloud2TransformedCloud(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud,
                                              const std_msgs::Header& header)
@@ -194,12 +209,6 @@ TrackerWithCloudNode::cloud2TransformedCloud(const pcl::PointCloud<pcl::PointXYZ
 pcl::PointCloud<pcl::PointXYZ>::Ptr
 TrackerWithCloudNode::euclideanClusterExtraction(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud)
 {
-  pcl::PointCloud<pcl::PointXYZ>::Ptr downsampled_cloud(new pcl::PointCloud<pcl::PointXYZ>);
-  pcl::VoxelGrid<pcl::PointXYZ> voxel_grid;
-  voxel_grid.setInputCloud(cloud);
-  voxel_grid.setLeafSize(voxel_leaf_size_, voxel_leaf_size_, voxel_leaf_size_);
-  voxel_grid.filter(*downsampled_cloud);
-
   pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
   std::vector<pcl::PointIndices> cluster_indices;
   pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
@@ -208,7 +217,7 @@ TrackerWithCloudNode::euclideanClusterExtraction(const pcl::PointCloud<pcl::Poin
   ec.setMinClusterSize(min_cluster_size_);
   ec.setMaxClusterSize(max_cluster_size_);
   ec.setSearchMethod(tree);
-  ec.setInputCloud(downsampled_cloud);
+  ec.setInputCloud(cloud);
   ec.extract(cluster_indices);
 
   float min_distance = std::numeric_limits<float>::max();
@@ -219,7 +228,7 @@ TrackerWithCloudNode::euclideanClusterExtraction(const pcl::PointCloud<pcl::Poin
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_cluster(new pcl::PointCloud<pcl::PointXYZ>);
     for (const auto& indice : cluster.indices)
     {
-      cloud_cluster->push_back((*downsampled_cloud)[indice]);
+      cloud_cluster->push_back((*cloud)[indice]);
     }
 
     Eigen::Vector4f centroid;

From fa334b001ddab9ce179a3292d9d50a543e51b03d Mon Sep 17 00:00:00 2001
From: h-wata <hirofumi01.watanabe@g.softbank.co.jp>
Date: Fri, 9 Feb 2024 16:21:16 +0900
Subject: [PATCH 2/9]  Remove unused function msg2TransformedCloud

---
 .../tracker_with_cloud_node.h                 |  1 -
 src/tracker_with_cloud_node.cpp               | 21 -------------------
 2 files changed, 22 deletions(-)

diff --git a/include/tracker_with_cloud_node/tracker_with_cloud_node.h b/include/tracker_with_cloud_node/tracker_with_cloud_node.h
index 312e905..72fbe01 100644
--- a/include/tracker_with_cloud_node/tracker_with_cloud_node.h
+++ b/include/tracker_with_cloud_node/tracker_with_cloud_node.h
@@ -93,7 +93,6 @@ class TrackerWithCloudNode
                              pcl::PointCloud<pcl::PointXYZ>::Ptr& detection_cloud_raw);
   void processPointsWithMask(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud, const sensor_msgs::Image& mask,
                              pcl::PointCloud<pcl::PointXYZ>::Ptr& detection_cloud_raw);
-  pcl::PointCloud<pcl::PointXYZ>::Ptr msg2TransformedCloud(const sensor_msgs::PointCloud2ConstPtr& cloud_msg);
   pcl::PointCloud<pcl::PointXYZ>::Ptr downsampleCloudMsg(const sensor_msgs::PointCloud2ConstPtr& cloud_msg);
   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2TransformedCloud(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud,
                                                              const std_msgs::Header& header);
diff --git a/src/tracker_with_cloud_node.cpp b/src/tracker_with_cloud_node.cpp
index a29e0b8..25dc8ba 100644
--- a/src/tracker_with_cloud_node.cpp
+++ b/src/tracker_with_cloud_node.cpp
@@ -152,27 +152,6 @@ void TrackerWithCloudNode::processPointsWithMask(const pcl::PointCloud<pcl::Poin
   }
 }
 
-pcl::PointCloud<pcl::PointXYZ>::Ptr
-TrackerWithCloudNode::msg2TransformedCloud(const sensor_msgs::PointCloud2ConstPtr& cloud_msg)
-{
-  pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud(new pcl::PointCloud<pcl::PointXYZ>);
-  sensor_msgs::PointCloud2 transformed_cloud_msg;
-
-  try
-  {
-    geometry_msgs::TransformStamped tf =
-        tf_buffer_->lookupTransform(cam_model_.tfFrame(), cloud_msg->header.frame_id, cloud_msg->header.stamp);
-    pcl_ros::transformPointCloud(cam_model_.tfFrame(), *cloud_msg, transformed_cloud_msg, *tf_buffer_);
-    pcl::fromROSMsg(transformed_cloud_msg, *transformed_cloud);
-  }
-  catch (tf2::TransformException& e)
-  {
-    ROS_WARN("%s", e.what());
-  }
-
-  return transformed_cloud;
-}
-
 pcl::PointCloud<pcl::PointXYZ>::Ptr
 TrackerWithCloudNode::downsampleCloudMsg(const sensor_msgs::PointCloud2ConstPtr& cloud_msg)
 {

From 53d86161ad0f08d9fd9fbba1e36adaa376ffebbf Mon Sep 17 00:00:00 2001
From: h-wata <hirofumi01.watanabe@g.softbank.co.jp>
Date: Fri, 9 Feb 2024 16:22:22 +0900
Subject: [PATCH 3/9]  Transform cloud to target frame in
 cloud2TransformedCloud()

---
 .../tracker_with_cloud_node/tracker_with_cloud_node.h  |  1 +
 src/tracker_with_cloud_node.cpp                        | 10 +++++-----
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/include/tracker_with_cloud_node/tracker_with_cloud_node.h b/include/tracker_with_cloud_node/tracker_with_cloud_node.h
index 72fbe01..0ba2d45 100644
--- a/include/tracker_with_cloud_node/tracker_with_cloud_node.h
+++ b/include/tracker_with_cloud_node/tracker_with_cloud_node.h
@@ -95,6 +95,7 @@ class TrackerWithCloudNode
                              pcl::PointCloud<pcl::PointXYZ>::Ptr& detection_cloud_raw);
   pcl::PointCloud<pcl::PointXYZ>::Ptr downsampleCloudMsg(const sensor_msgs::PointCloud2ConstPtr& cloud_msg);
   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2TransformedCloud(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud,
+                                                             const std::string& target_frame,
                                                              const std_msgs::Header& header);
   pcl::PointCloud<pcl::PointXYZ>::Ptr euclideanClusterExtraction(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud);
   void createBoundingBox(vision_msgs::Detection3DArray& detections3d_msg,
diff --git a/src/tracker_with_cloud_node.cpp b/src/tracker_with_cloud_node.cpp
index 25dc8ba..7b766cc 100644
--- a/src/tracker_with_cloud_node.cpp
+++ b/src/tracker_with_cloud_node.cpp
@@ -54,7 +54,7 @@ void TrackerWithCloudNode::syncCallback(const sensor_msgs::CameraInfo::ConstPtr&
   downsampled_cloud = downsampleCloudMsg(cloud_msg);
 
   pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud;
-  transformed_cloud = cloud2TransformedCloud(downsampled_cloud, cloud_msg->header);
+  transformed_cloud = cloud2TransformedCloud(downsampled_cloud, cam_model_.tfFrame(), cloud_msg->header);
   vision_msgs::Detection3DArray detections3d_msg;
   sensor_msgs::PointCloud2 detection_cloud_msg;
   visualization_msgs::MarkerArray marker_array_msg;
@@ -92,7 +92,8 @@ void TrackerWithCloudNode::projectCloud(const pcl::PointCloud<pcl::PointXYZ>::Pt
 
     if (!detection_cloud_raw->points.empty())
     {
-      pcl::PointCloud<pcl::PointXYZ>::Ptr detection_cloud = cloud2TransformedCloud(detection_cloud_raw, header);
+      pcl::PointCloud<pcl::PointXYZ>::Ptr detection_cloud =
+          cloud2TransformedCloud(detection_cloud_raw, cam_model_.tfFrame(), header);
       pcl::PointCloud<pcl::PointXYZ>::Ptr closest_detection_cloud = euclideanClusterExtraction(detection_cloud);
       createBoundingBox(detections3d_msg, closest_detection_cloud, yolo_result_msg->detections.detections[i].results);
       combine_detection_cloud += *closest_detection_cloud;
@@ -167,14 +168,13 @@ TrackerWithCloudNode::downsampleCloudMsg(const sensor_msgs::PointCloud2ConstPtr&
 
 pcl::PointCloud<pcl::PointXYZ>::Ptr
 TrackerWithCloudNode::cloud2TransformedCloud(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud,
-                                             const std_msgs::Header& header)
+                                             const std::string& target_frame, const std_msgs::Header& header)
 {
   pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud(new pcl::PointCloud<pcl::PointXYZ>);
 
   try
   {
-    geometry_msgs::TransformStamped tf =
-        tf_buffer_->lookupTransform(header.frame_id, cam_model_.tfFrame(), header.stamp);
+    geometry_msgs::TransformStamped tf = tf_buffer_->lookupTransform(header.frame_id, target_frame, header.stamp);
     pcl_ros::transformPointCloud(*cloud, *transformed_cloud, tf.transform);
   }
   catch (tf2::TransformException& e)

From 41753e2308560601cfd88674032b5de8d1310e1c Mon Sep 17 00:00:00 2001
From: h-wata <hirofumi01.watanabe@g.softbank.co.jp>
Date: Fri, 9 Feb 2024 16:25:32 +0900
Subject: [PATCH 4/9] Remove unnecessary checkout step in noetic-ci.yml

---
 .github/workflows/noetic-ci.yml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/noetic-ci.yml b/.github/workflows/noetic-ci.yml
index 983526f..f2b021f 100644
--- a/.github/workflows/noetic-ci.yml
+++ b/.github/workflows/noetic-ci.yml
@@ -8,8 +8,6 @@ jobs:
     steps:
       - name: checkout
         uses: actions/checkout@v2
-        with:
-          ref: ${{ github.head_ref }}
       - name: run industrial_ci
         uses: 'ros-industrial/industrial_ci@master'
         env:

From 1aca79ed403912fd8519a80854f4984a72781a7f Mon Sep 17 00:00:00 2001
From: h-wata <hirofumi01.watanabe@g.softbank.co.jp>
Date: Tue, 13 Feb 2024 13:38:18 +0900
Subject: [PATCH 5/9] Refactor cloud2TransformedCloud function signature

---
 .../tracker_with_cloud_node/tracker_with_cloud_node.h  |  4 ++--
 src/tracker_with_cloud_node.cpp                        | 10 ++++++----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/include/tracker_with_cloud_node/tracker_with_cloud_node.h b/include/tracker_with_cloud_node/tracker_with_cloud_node.h
index 0ba2d45..6b98ae5 100644
--- a/include/tracker_with_cloud_node/tracker_with_cloud_node.h
+++ b/include/tracker_with_cloud_node/tracker_with_cloud_node.h
@@ -95,8 +95,8 @@ class TrackerWithCloudNode
                              pcl::PointCloud<pcl::PointXYZ>::Ptr& detection_cloud_raw);
   pcl::PointCloud<pcl::PointXYZ>::Ptr downsampleCloudMsg(const sensor_msgs::PointCloud2ConstPtr& cloud_msg);
   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2TransformedCloud(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud,
-                                                             const std::string& target_frame,
-                                                             const std_msgs::Header& header);
+                                                             const std::string& source_frame,
+                                                             const std::string& target_frame, const ros::Time& stamp);
   pcl::PointCloud<pcl::PointXYZ>::Ptr euclideanClusterExtraction(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud);
   void createBoundingBox(vision_msgs::Detection3DArray& detections3d_msg,
                          const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud,
diff --git a/src/tracker_with_cloud_node.cpp b/src/tracker_with_cloud_node.cpp
index 7b766cc..8b1a51b 100644
--- a/src/tracker_with_cloud_node.cpp
+++ b/src/tracker_with_cloud_node.cpp
@@ -54,7 +54,8 @@ void TrackerWithCloudNode::syncCallback(const sensor_msgs::CameraInfo::ConstPtr&
   downsampled_cloud = downsampleCloudMsg(cloud_msg);
 
   pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud;
-  transformed_cloud = cloud2TransformedCloud(downsampled_cloud, cam_model_.tfFrame(), cloud_msg->header);
+  transformed_cloud = cloud2TransformedCloud(downsampled_cloud, cloud_msg->header.frame_id, cam_model_.tfFrame(),
+                                             cloud_msg->header.stamp);
   vision_msgs::Detection3DArray detections3d_msg;
   sensor_msgs::PointCloud2 detection_cloud_msg;
   visualization_msgs::MarkerArray marker_array_msg;
@@ -93,7 +94,7 @@ void TrackerWithCloudNode::projectCloud(const pcl::PointCloud<pcl::PointXYZ>::Pt
     if (!detection_cloud_raw->points.empty())
     {
       pcl::PointCloud<pcl::PointXYZ>::Ptr detection_cloud =
-          cloud2TransformedCloud(detection_cloud_raw, cam_model_.tfFrame(), header);
+          cloud2TransformedCloud(detection_cloud_raw, cam_model_.tfFrame(), header.frame_id, header.stamp);
       pcl::PointCloud<pcl::PointXYZ>::Ptr closest_detection_cloud = euclideanClusterExtraction(detection_cloud);
       createBoundingBox(detections3d_msg, closest_detection_cloud, yolo_result_msg->detections.detections[i].results);
       combine_detection_cloud += *closest_detection_cloud;
@@ -168,13 +169,14 @@ TrackerWithCloudNode::downsampleCloudMsg(const sensor_msgs::PointCloud2ConstPtr&
 
 pcl::PointCloud<pcl::PointXYZ>::Ptr
 TrackerWithCloudNode::cloud2TransformedCloud(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud,
-                                             const std::string& target_frame, const std_msgs::Header& header)
+                                             const std::string& source_frame, const std::string& target_frame,
+                                             const ros::Time& stamp)
 {
   pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud(new pcl::PointCloud<pcl::PointXYZ>);
 
   try
   {
-    geometry_msgs::TransformStamped tf = tf_buffer_->lookupTransform(header.frame_id, target_frame, header.stamp);
+    geometry_msgs::TransformStamped tf = tf_buffer_->lookupTransform(source_frame, target_frame, stamp);
     pcl_ros::transformPointCloud(*cloud, *transformed_cloud, tf.transform);
   }
   catch (tf2::TransformException& e)

From c23d77fde3fab75b5c0a10e8996f884b3dc5fe6d Mon Sep 17 00:00:00 2001
From: h-wata <hirofumi01.watanabe@g.softbank.co.jp>
Date: Tue, 13 Feb 2024 13:45:55 +0900
Subject: [PATCH 6/9] fix noetic-ci

---
 .github/workflows/noetic-ci.yml | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/.github/workflows/noetic-ci.yml b/.github/workflows/noetic-ci.yml
index f2b021f..873efb4 100644
--- a/.github/workflows/noetic-ci.yml
+++ b/.github/workflows/noetic-ci.yml
@@ -20,8 +20,6 @@ jobs:
     steps:
       - name: checkout
         uses: actions/checkout@v2
-        with:
-          ref: ${{ github.head_ref }}
       - name: run industrial_ci
         uses: 'ros-industrial/industrial_ci@master'
         env:
@@ -34,8 +32,6 @@ jobs:
     steps:
       - name: checkout
         uses: actions/checkout@v2
-        with:
-          ref: ${{ github.head_ref }}
       - name: run industrial_ci
         uses: 'ros-industrial/industrial_ci@master'
         env:
@@ -47,8 +43,6 @@ jobs:
     steps:
       - name: checkout
         uses: actions/checkout@v2
-        with:
-          ref: ${{ github.head_ref }}
       - name: run industrial_ci
         uses: 'ros-industrial/industrial_ci@master'
         env:
@@ -62,8 +56,6 @@ jobs:
     steps:
       - name: checkout
         uses: actions/checkout@v2
-        with:
-          ref: ${{ github.head_ref }}
       - name: run industrial_ci
         uses: 'ros-industrial/industrial_ci@master'
         env:
@@ -90,8 +82,6 @@ jobs:
     steps:
       - name: checkout
         uses: actions/checkout@v2
-        with:
-          ref: ${{ github.head_ref }}
       - name: run industrial_ci
         uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}

From 2c82be9df24328ca0e8abb0ed9b99845e12e4f83 Mon Sep 17 00:00:00 2001
From: h-wata <hirofumi01.watanabe@g.softbank.co.jp>
Date: Tue, 13 Feb 2024 16:44:45 +0900
Subject: [PATCH 7/9]  Remove unnecessary checkout step in workflow

---
 .github/workflows/noetic-docker-build-check.yml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/noetic-docker-build-check.yml b/.github/workflows/noetic-docker-build-check.yml
index 88fd007..0eed57a 100644
--- a/.github/workflows/noetic-docker-build-check.yml
+++ b/.github/workflows/noetic-docker-build-check.yml
@@ -13,8 +13,6 @@ jobs:
         run: rm -rf /opt/hostedtoolcache
       - name: checkout
         uses: actions/checkout@v2
-        with:
-          ref: ${{ github.head_ref }}
       - name: set up QEMU
         uses: docker/setup-qemu-action@v1
       - name: set up Docker Buildx

From dfbdb2351d81e53724e49568cc32368d2414d9c8 Mon Sep 17 00:00:00 2001
From: h-wata <hirofumi01.watanabe@g.softbank.co.jp>
Date: Tue, 13 Feb 2024 16:53:46 +0900
Subject: [PATCH 8/9]  Fix transform lookup order in cloud2TransformedCloud
 function

---
 src/tracker_with_cloud_node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/tracker_with_cloud_node.cpp b/src/tracker_with_cloud_node.cpp
index 8b1a51b..c8f5668 100644
--- a/src/tracker_with_cloud_node.cpp
+++ b/src/tracker_with_cloud_node.cpp
@@ -176,7 +176,7 @@ TrackerWithCloudNode::cloud2TransformedCloud(const pcl::PointCloud<pcl::PointXYZ
 
   try
   {
-    geometry_msgs::TransformStamped tf = tf_buffer_->lookupTransform(source_frame, target_frame, stamp);
+    geometry_msgs::TransformStamped tf = tf_buffer_->lookupTransform(target_frame, source_frame, stamp);
     pcl_ros::transformPointCloud(*cloud, *transformed_cloud, tf.transform);
   }
   catch (tf2::TransformException& e)

From 4c8a92f5102912460ec749474f4bff9b29251c95 Mon Sep 17 00:00:00 2001
From: h-wata <hirofumi01.watanabe@g.softbank.co.jp>
Date: Wed, 14 Feb 2024 10:52:32 +0900
Subject: [PATCH 9/9] Remove 'login to Dockerhub' task from ci

---
 .github/workflows/noetic-docker-build-check.yml | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/.github/workflows/noetic-docker-build-check.yml b/.github/workflows/noetic-docker-build-check.yml
index 0eed57a..4482fa0 100644
--- a/.github/workflows/noetic-docker-build-check.yml
+++ b/.github/workflows/noetic-docker-build-check.yml
@@ -17,11 +17,6 @@ jobs:
         uses: docker/setup-qemu-action@v1
       - name: set up Docker Buildx
         uses: docker/setup-buildx-action@v1
-      - name: login to DockerHub
-        uses: docker/login-action@v1
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: build check
         uses: docker/build-push-action@v2
         with: