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merged master->ros2

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matlabbe
2022-12-04 18:11:37 -08:00
parent a9db92e47f f327b3f289
commit 16875b4ad5
7 changed files with 302 additions and 3 deletions
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src/CoreWrapper.cpp
+8 -1
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@@ -126,7 +126,8 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
mappingAltitudeDelta_(Parameters::defaultGridGlobalAltitudeDelta()),
alreadyRectifiedImages_(Parameters::defaultRtabmapImagesAlreadyRectified()),
twoDMapping_(Parameters::defaultRegForce3DoF()),
previousStamp_(0)
previousStamp_(0),
ulogToRosout_(this)
{
char * rosHomePath = getenv("ROS_HOME");
std::string workingDir = rosHomePath?rosHomePath:UDirectory::homeDir()+"/.ros";
@@ -172,6 +173,11 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
}
}
int eventLevel = ULogger::kFatal;
eventLevel = this->declare_parameter("log_to_rosout_level", eventLevel);
UASSERT(eventLevel >= ULogger::kDebug && eventLevel <= ULogger::kFatal);
ULogger::setEventLevel((ULogger::Level)eventLevel);
publishTf = this->declare_parameter("publish_tf", publishTf);
tfDelay = this->declare_parameter("tf_delay", tfDelay);
tfTolerance = this->declare_parameter("tf_tolerance", tfTolerance);
@@ -211,6 +217,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
groundTruthBaseFrameId_.c_str());
}
RCLCPP_INFO(this->get_logger(), "rtabmap: map_frame_id = %s", mapFrameId_.c_str());
RCLCPP_INFO(this->get_logger(), "rtabmap: log_to_rosout_level = %d", eventLevel);
RCLCPP_INFO(this->get_logger(), "rtabmap: initial_pose = %s", initialPoseStr.c_str());
RCLCPP_INFO(this->get_logger(), "rtabmap: use_action_for_goal = %s", useActionForGoal_?"true":"false");
RCLCPP_INFO(this->get_logger(), "rtabmap: tf_delay = %f", tfDelay);