[mir_perception_utils] Chaning header of a const pointcloud.

[vamsikalagaturu]

Describe the bug

• transformPointCloudMsg and transformPointCloud methods changes the pointcloud_in header value, which is a const variable. Therefore, the build throws a warning.

Steps to Reproduce

1. Build the mir_perception_utils package

Expected Behavior

The below warnings will occur:

warning: passing ‘const _stamp_type’ {aka ‘const ros::Time’} as ‘this’ argument discards qualifiers [-fpermissive]
   23 |       cloud_in.header.stamp = common_time;

warning: passing ‘const pcl::PCLHeader’ as ‘this’ argument discards qualifiers [-fpermissive]
   51 |       cloud_in.header = pc_header;

Environment

• Version used (branch/commit):
• PC:
  • on the robot (YBRSU-2)
• build command:
  • catkin build --this (mir_perception_utils)

Suggested fix

• Convert the variable from const to not const and modify all subsequent function declarations.