i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

merged master to multicamera branch

Browse Source
This commit is contained in:
Mathieu Labbe
2015-05-29 14:54:49 -04:00
parent c6d0d47b1c ec8946dc2f
commit c5046df226
9 changed files with 53 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
corelib/src/DBReader.cpp
View File

@@ -185,8 +185,6 @@ void DBReader::mainLoop()
if(goalId > 0)
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, "", goalId));
if(!_ignoreGoalDelay && _currentId != _ids.end())
{
// get stamp for the next signature to compute the delay
@@ -203,12 +201,19 @@ void DBReader::mainLoop()
double delay = stamp - previousStamp;
UWARN("Goal %d detected, posting it! Waiting %f seconds before sending next data...",
goalId, delay);
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, "", goalId));
uSleep(delay*1000);
}
else
{
UWARN("Goal %d detected, posting it!", goalId);
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, "", goalId));
}
}
else
{
UWARN("Goal %d detected, posting it!", goalId);
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, "", goalId));
}
}