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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_conversions/CMakeLists.txt
+1 -1
View File
@@ -7,7 +7,7 @@ find_package(catkin REQUIRED COMPONENTS
image_geometry rtabmap_msgs image_geometry rtabmap_msgs
) )
find_package(RTABMap 0.23.4 REQUIRED) find_package(RTABMap 0.23.5 REQUIRED)
catkin_package( catkin_package(
INCLUDE_DIRS include INCLUDE_DIRS include
rtabmap_slam/src/CoreWrapper.cpp
+10 -6
View File
@@ -2196,8 +2196,8 @@ void CoreWrapper::process(
if(rtabmap_.getMemory() == 0 || if(rtabmap_.getMemory() == 0 ||
filteredPoses.size() == 0 || filteredPoses.size() == 0 ||
rtabmap_.getMemory()->getLastSignatureId() != filteredPoses.rbegin()->first || rtabmap_.getMemory()->getLastSignatureId() != filteredPoses.rbegin()->first ||
rtabmap_.getMemory()->getLastWorkingSignature() == 0 || rtabmap_.getMemory()->getLastWorkingSignature(true) == 0 ||
rtabmap_.getMemory()->getLastWorkingSignature()->sensorData().gridCellSize() == 0 || rtabmap_.getMemory()->getLastWorkingSignature(true)->sensorData().gridCellSize() == 0 ||
(!mapsManager_.getLocalMapMaker()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data (!mapsManager_.getLocalMapMaker()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data
{ {
SensorData tmpData = data; SensorData tmpData = data;
@@ -3428,9 +3428,9 @@ bool CoreWrapper::getNodeDataCallback(rtabmap_msgs::GetNodeData::Request& req, r
req.grid?"true":"false", req.grid?"true":"false",
req.user_data?"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) 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,
!req.graphOnly,
!req.graphOnly,
!req.graphOnly); !req.graphOnly);
//RGB-D SLAM data //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) 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.global?"true":"false",
req.optimized?"true":"false", req.optimized?"true":"false",
req.with_images?"true":"false", req.with_images?"true":"false",
req.with_scans?"true":"false", req.with_scans?"true":"false",
req.with_user_data?"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, Signature> signatures;
std::map<int, Transform> poses; std::map<int, Transform> poses;
std::multimap<int, rtabmap::Link> constraints; std::multimap<int, rtabmap::Link> constraints;