From 0135d1e57ea6e10f16b545d57058c866f5f0f7c5 Mon Sep 17 00:00:00 2001
From: tizianoGuadagnino <frevo93@gmail.com>
Date: Mon, 6 Jan 2025 14:33:19 +0100
Subject: [PATCH] Isolate changes

---
 ros/src/Utils.hpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/ros/src/Utils.hpp b/ros/src/Utils.hpp
index ade93d8f..09c9cd8e 100644
--- a/ros/src/Utils.hpp
+++ b/ros/src/Utils.hpp
@@ -228,4 +228,13 @@ inline std::unique_ptr<PointCloud2> EigenToPointCloud2(const std::vector<Eigen::
                    [&](const auto &point) { return T * point; });
     return EigenToPointCloud2(points_t, header);
 }
+
+inline std::unique_ptr<PointCloud2> EigenToPointCloud2(const std::vector<Eigen::Vector3d> &points,
+                                                       const std::vector<double> &timestamps,
+                                                       const Header &header) {
+    auto msg = CreatePointCloud2Msg(points.size(), header, true);
+    FillPointCloud2XYZ(points, *msg);
+    FillPointCloud2Timestamp(timestamps, *msg);
+    return msg;
+}
 }  // namespace kiss_icp_ros::utils