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Added icp_odometry and rgbdicp_odometry nodes

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matlabbe
2016-08-07 20:55:59 -04:00
parent 328f6520b2
commit 050cf91df3
14 changed files with 1020 additions and 33 deletions
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src/GuiWrapper.cpp
+4 -3
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@@ -482,10 +482,11 @@ Transform GuiWrapper::getTransform(const std::string & fromFrameId, const std::s
if(waitForTransform_ && !stamp.isZero() && waitForTransformDuration_ > 0.0)
{
//if(!tfBuffer_.canTransform(fromFrameId, toFrameId, stamp, ros::Duration(1)))
if(!tfListener_.waitForTransform(fromFrameId, toFrameId, stamp, ros::Duration(waitForTransformDuration_)))
std::string errorMsg;
if(!tfListener_.waitForTransform(fromFrameId, toFrameId, stamp, ros::Duration(waitForTransformDuration_), ros::Duration(0.01), &errorMsg))
{
ROS_WARN("rtabmapviz: Could not get transform from %s to %s after %f seconds (for stamp=%f)!",
fromFrameId.c_str(), toFrameId.c_str(), waitForTransformDuration_, stamp.toSec());
ROS_WARN("rtabmapviz: Could not get transform from %s to %s after %f seconds (for stamp=%f)! Error=\"%s\".",
fromFrameId.c_str(), toFrameId.c_str(), waitForTransformDuration_, stamp.toSec(), errorMsg.c_str());
return transform;
}
}