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Support upstream 0.23.5

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matlabbe
2026-04-19 23:07:07 +00:00
parent 95004363b4
commit 08e7d63678
2 changed files with 12 additions and 8 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+11 -7
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@@ -2196,8 +2196,8 @@ void CoreWrapper::process(
if(rtabmap_.getMemory() == 0 ||
filteredPoses.size() == 0 ||
rtabmap_.getMemory()->getLastSignatureId() != filteredPoses.rbegin()->first ||
rtabmap_.getMemory()->getLastWorkingSignature() == 0 ||
rtabmap_.getMemory()->getLastWorkingSignature()->sensorData().gridCellSize() == 0 ||
rtabmap_.getMemory()->getLastWorkingSignature(true) == 0 ||
rtabmap_.getMemory()->getLastWorkingSignature(true)->sensorData().gridCellSize() == 0 ||
(!mapsManager_.getLocalMapMaker()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data
{
SensorData tmpData = data;
@@ -3421,16 +3421,16 @@ bool CoreWrapper::setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Respon
bool CoreWrapper::getNodeDataCallback(rtabmap_msgs::GetNodeData::Request& req, rtabmap_msgs::GetNodeData::Response& res)
{
NODELET_INFO("rtabmap: Getting node data (%d node(s), images=%s scan=%s grid=%s user_data=%s)...",
NODELET_INFO("rtabmap: Getting node data (%d node(s), images=%s scan=%s grid=%s user_data=%s )...",
(int)req.ids.size(),
req.images?"true":"false",
req.scan?"true":"false",
req.grid?"true":"false",
req.user_data?"true":"false");
if(req.ids.empty() && rtabmap_.getMemory() && rtabmap_.getMemory()->getLastWorkingSignature())
if(req.ids.empty() && rtabmap_.getMemory() && rtabmap_.getMemory()->getLastWorkingSignature(true))
{
req.ids.push_back(rtabmap_.getMemory()->getLastWorkingSignature()->id());
req.ids.push_back(rtabmap_.getMemory()->getLastWorkingSignature(true)->id());
}
for(size_t i=0; i<req.ids.size(); ++i)
{
@@ -3467,6 +3467,8 @@ bool CoreWrapper::getMapDataCallback(rtabmap_msgs::GetMap::Request& req, rtabmap
!req.graphOnly,
!req.graphOnly,
!req.graphOnly,
!req.graphOnly,
!req.graphOnly,
!req.graphOnly);
//RGB-D SLAM data
@@ -3484,13 +3486,15 @@ bool CoreWrapper::getMapDataCallback(rtabmap_msgs::GetMap::Request& req, rtabmap
bool CoreWrapper::getMapData2Callback(rtabmap_msgs::GetMap2::Request& req, rtabmap_msgs::GetMap2::Response& res)
{
NODELET_INFO("rtabmap: Getting map (global=%s optimized=%s with_images=%s with_scans=%s with_user_data=%s with_grids=%s)...",
NODELET_INFO("rtabmap: Getting map (global=%s optimized=%s with_images=%s with_scans=%s with_user_data=%s with_grids=%s with_words=%s with_global_descriptors=%s)...",
req.global?"true":"false",
req.optimized?"true":"false",
req.with_images?"true":"false",
req.with_scans?"true":"false",
req.with_user_data?"true":"false",
req.with_grids?"true":"false");
req.with_grids?"true":"false",
req.with_words?"true":"false",
req.with_global_descriptors?"true":"false");
std::map<int, Signature> signatures;
std::map<int, Transform> poses;
std::multimap<int, rtabmap::Link> constraints;