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Fixed node ID=0 issues on ros2 as msgs don't have seq.

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matlabbe
2023-11-19 18:57:01 -08:00
parent a399ee97b5
commit 097cab0667
2 changed files with 4 additions and 5 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+2 -5
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@@ -1753,10 +1753,7 @@ void CoreWrapper::commonSensorDataCallback(
}
SensorData data = rtabmap_conversions::sensorDataFromROS(*sensorDataMsg);
if(lastPoseIntermediate_)
{
data.setId(-1);
}
data.setId(lastPoseIntermediate_?-1:0);
OdometryInfo odomInfo;
if(odomInfoMsg.get())
@@ -2256,7 +2253,7 @@ void CoreWrapper::process(
}
// If not intermediate node
if(data.id() > 0)
if(data.id() >= 0)
{
localizationDiagnostic_.updateStatus(rtabmap_.getStatistics().localizationCovariance(), twoDMapping_);
tick(stamp, rate_>0?rate_:1000.0/(timeMsgConversion+timeRtabmap+timeUpdateMaps+timePublishMaps));