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updated find-object with markers demo and wifi demo to correctly handle the case where only last signature data is published

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matlabbe
2018-11-29 14:42:25 -05:00
parent e08f49b092
commit 1559d9ba8e
3 changed files with 68 additions and 32 deletions
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src/CoreWrapper.cpp
+7 -4
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@@ -2068,12 +2068,15 @@ void CoreWrapper::userDataAsyncCallback(const rtabmap_ros::UserDataConstPtr & da
if(!paused_)
{
UScopeMutex lock(userDataMutex_);
if(!userData_.empty())
static bool warningShow = false;
if(!userData_.empty() && !warningShow)
{
ROS_WARN("Overwriting previous user data set. Asynchronous user "
"data input topic should be used with user data published at "
"lower rate than map update rate (current %s=%f).",
ROS_WARN("Overwriting previous user data set. When asynchronous user "
"data input topic rate is higher than "
"map update rate (current %s=%f), only latest data is saved "
"in the next node created. This message will is shown only once.",
Parameters::kRtabmapDetectionRate().c_str(), rate_);
warningShow = true;
}
userData_ = rtabmap_ros::userDataFromROS(*dataMsg);
}