From 001ed0d5125e126244ff7e6442fad555a162dded Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 2 Dec 2025 21:11:25 -0800 Subject: [PATCH] Fixing duplicated code added from that merge commit https://github.com/introlab/rtabmap_ros/commit/c204ed61427475f028fe2cd435b31cd2cbcfc1fd --- rtabmap_odom/src/nodelets/stereo_odometry.cpp | 45 +------------------ 1 file changed, 1 insertion(+), 44 deletions(-) diff --git a/rtabmap_odom/src/nodelets/stereo_odometry.cpp b/rtabmap_odom/src/nodelets/stereo_odometry.cpp index 6a91743a..84a1ced0 100644 --- a/rtabmap_odom/src/nodelets/stereo_odometry.cpp +++ b/rtabmap_odom/src/nodelets/stereo_odometry.cpp @@ -500,49 +500,6 @@ void StereoOdometry::commonCallback( return; } else - { - stereoTransform = rtabmap_conversions::getTransform( - rightCameraInfos[i].header.frame_id, - leftCameraInfos[i].header.frame_id, - leftCameraInfos[i].header.stamp, - tfBuffer(), - waitForTransform()); - if(stereoTransform.isNull()) - { - RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get TF between the two cameras! (between frames %s and %s)", - Parameters::kRtabmapImagesAlreadyRectified().c_str(), - rightCameraInfos[i].header.frame_id.c_str(), - leftCameraInfos[i].header.frame_id.c_str()); - return; - } - else if(stereoTransform.isIdentity()) - { - RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get a valid TF between the two cameras! " - "Identity transform returned between left and right cameras. Verify that if TF between " - "the cameras is valid: \"rosrun tf tf_echo %s %s\".", - Parameters::kRtabmapImagesAlreadyRectified().c_str(), - rightCameraInfos[i].header.frame_id.c_str(), - leftCameraInfos[i].header.frame_id.c_str()); - return; - } - } - } - - rtabmap::StereoCameraModel stereoModel = rtabmap_conversions::stereoCameraModelFromROS(leftCameraInfos[i], rightCameraInfos[i], localTransform, stereoTransform); - - if( stereoModel.baseline() == 0 && - alreadyRectified && - !rightCameraInfos[i].header.frame_id.empty() && - !leftCameraInfos[i].header.frame_id.empty()) - { - stereoTransform = rtabmap_conversions::getTransform( - leftCameraInfos[i].header.frame_id, - rightCameraInfos[i].header.frame_id, - leftCameraInfos[i].header.stamp, - tfBuffer(), - waitForTransform()); - - if(!stereoTransform.isNull() && stereoTransform.x()>0) { static bool warned = false; if(!warned) @@ -576,7 +533,7 @@ void StereoOdometry::commonCallback( { RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get a valid TF between the two cameras! " "Identity transform returned between left and right cameras. Verify that if TF between " - "the cameras is valid: \"rosrun tf tf_echo %s %s\".", + "the cameras is valid: \"ros2 run tf2_ros tf_echo %s %s\".", Parameters::kRtabmapImagesAlreadyRectified().c_str(), rightCameraInfos[i].header.frame_id.c_str(), leftCameraInfos[i].header.frame_id.c_str());