hdl_localization 报错解决point cloud cannot be transformed into target frame

hdl_localization 报错point cloud cannot be transformed into target frame!!

pcl_ros 不支持tf2，hdl_localization_nodelet.cpp中修改成tf：

//1.
  //HdlLocalizationNodelet() : tf_buffer(), tf_listener(tf_buffer) {
  //}
  HdlLocalizationNodelet() {
  }


//2.
// transform pointcloud into odom_child_frame_id
    //pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>());
    //if(!pcl_ros::transformPointCloud(odom_child_frame_id, *pcl_cloud, *cloud, this->tf_buffer)) {
     //   NODELET_ERROR("point cloud cannot be transformed into target frame!!");
     //   return;
    //}
    pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>());  
    if(!pcl_ros::transformPointCloud(odom_child_frame_id, *pcl_cloud, *cloud, this->tf_listener)) {
        NODELET_ERROR("point cloud cannot be transformed into target frame!!");
        return;
    } 


//3.
 //tf2_ros::TransformListener tf_listener;
  tf2_ros::TransformBroadcaster tf_broadcaster;
  tf::TransformListener tf_listener;