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GUI/Download map: Fixed parameters not read when downloading map

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matlabbe
2025-03-29 14:52:04 -07:00
parent b0916ad14c
commit 001df6a17d
3 changed files with 16 additions and 4 deletions
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rtabmap_viz/CMakeLists.txt
+8 -1
View File
@@ -33,11 +33,18 @@ include_directories(
${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
) )
add_executable(rtabmap_viz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp) add_executable(rtabmap_viz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp include/${PROJECT_NAME}/PreferencesDialogROS.h)
IF(Qt5_FOUND) IF(Qt5_FOUND)
QT5_USE_MODULES(rtabmap_viz Widgets Core Gui) QT5_USE_MODULES(rtabmap_viz Widgets Core Gui)
ENDIF(Qt5_FOUND) ENDIF(Qt5_FOUND)
target_link_libraries(rtabmap_viz ${catkin_LIBRARIES}) target_link_libraries(rtabmap_viz ${catkin_LIBRARIES})
SET_TARGET_PROPERTIES(
rtabmap_viz
PROPERTIES
AUTOUIC ON
AUTOMOC ON
AUTORCC ON
)
############# #############
rtabmap_viz/include/rtabmap_viz/PreferencesDialogROS.h
+2 -1
View File
@@ -35,6 +35,7 @@ using namespace rtabmap;
class PreferencesDialogROS : public PreferencesDialog class PreferencesDialogROS : public PreferencesDialog
{ {
Q_OBJECT
public: public:
PreferencesDialogROS(const QString & configFile, const std::string & rtabmapNodeName); PreferencesDialogROS(const QString & configFile, const std::string & rtabmapNodeName);
virtual ~PreferencesDialogROS(); virtual ~PreferencesDialogROS();
@@ -43,7 +44,7 @@ public:
virtual QString getTmpIniFilePath() const; virtual QString getTmpIniFilePath() const;
bool hasAllParameters(); bool hasAllParameters();
public slots: public Q_SLOTS:
void readRtabmapNodeParameters(); void readRtabmapNodeParameters();
protected: protected:
rtabmap_viz/src/PreferencesDialogROS.cpp
+6 -2
View File
@@ -89,7 +89,9 @@ bool PreferencesDialogROS::hasAllParameters()
rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters(); rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
for(rtabmap::ParametersMap::const_iterator i=parameters.begin(); i!=parameters.end(); ++i) for(rtabmap::ParametersMap::const_iterator i=parameters.begin(); i!=parameters.end(); ++i)
{ {
if(i->first.compare(rtabmap::Parameters::kRtabmapWorkingDirectory()) != 0 && !nh.hasParam(i->first)) if(i->first.compare(rtabmap::Parameters::kRtabmapWorkingDirectory()) != 0 &&
!nh.hasParam(i->first) &&
i->first.find("Odom") != 0)
{ {
return false; return false;
} }
@@ -101,7 +103,9 @@ bool PreferencesDialogROS::hasAllParameters(const ros::NodeHandle & nh, const rt
{ {
for(rtabmap::ParametersMap::const_iterator i=parameters.begin(); i!=parameters.end(); ++i) for(rtabmap::ParametersMap::const_iterator i=parameters.begin(); i!=parameters.end(); ++i)
{ {
if(i->first.compare(rtabmap::Parameters::kRtabmapWorkingDirectory()) != 0 && !nh.hasParam(i->first)) if(i->first.compare(rtabmap::Parameters::kRtabmapWorkingDirectory()) != 0 &&
!nh.hasParam(i->first) &&
i->first.find("Odom") != 0)
{ {
return false; return false;
} }