From 77ef3d486852440908ee02d0fd78f3f2446f1978 Mon Sep 17 00:00:00 2001
From: Jongkuk Lim <lim.jeikei@gmail.com>
Date: Wed, 22 Nov 2023 14:13:15 +0900
Subject: [PATCH] Fix compressed message indexing bug. (#3)

Co-authored-by: Jongkuk Lim <limjk@jmarple.ai>
---
 CMakeLists.txt                    | 2 +-
 src/flexxlam_msgs/PointCloud2.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6317bc3..c876a5b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(flexxlam_sdk
-  VERSION 0.0.1
+  VERSION 0.0.2
   LANGUAGES CXX
   )
 
diff --git a/src/flexxlam_msgs/PointCloud2.cpp b/src/flexxlam_msgs/PointCloud2.cpp
index e63a055..5d29db3 100644
--- a/src/flexxlam_msgs/PointCloud2.cpp
+++ b/src/flexxlam_msgs/PointCloud2.cpp
@@ -30,7 +30,7 @@ PointCloud2::PointCloud2(const std::vector<uint8_t> &bytes) {
 
   if (compression_flag) {
     uint32_t original_length =
-        to_int(vector<uint8_t>(bytes.begin() + 1, bytes.begin() + idx + 5));
+        to_int(vector<uint8_t>(bytes.begin() + 1, bytes.begin() + 5));
     bytes_ptr = std::make_shared<vector<uint8_t>>(
         decompress_bytes(vector<uint8_t>(bytes.begin() + 5, bytes.end()),
                          /*original_size=*/original_length));