Eric Wang

NB了

Yeah, we need B

It's useful when distance is large

refer to this, solve it for ROS catkin build on Ubuntu 16.04, thanks.

just change ```cpp kdtreeNonFeatureFromLocal->setInputCloud(laserCloudNonFeatureFromLocal); ``` to ```cpp if(!laserCloudNonFeatureFromLocal->empty()) kdtreeNonFeatureFromLocal->setInputCloud(laserCloudNonFeatureFromLocal); ```

you can add log to all the setInputCloud used, then use if(!cloud->empty()) to avoid the ERROR

Not yet

I also want to know

also this ``` hal_usb_bulk.c:106:13: note: ‘snprintf’ output between 5 and 68 bytes into a destination of size 64 snprintf(usbBulk2EpOutFd, sizeof(usbBulk2EpOutFd), "%s/ep1", ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ linkConfig.usbBulkConfig.usbBulk2DeviceName); ```