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Added test_two_kinects_one_map.launch. Removed tf_prefix parameter (frame_id, odom_frame_id and map_frame_id should be set directly)

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matlabbe
2017-04-04 12:55:31 -04:00
parent b0ee4b6398
commit 18d09f0405
4 changed files with 82 additions and 51 deletions
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src/CoreWrapper.cpp
+4 -27
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@@ -126,7 +126,6 @@ void CoreWrapper::onInit()
bool publishTf = true;
double tfDelay = 0.05; // 20 Hz
double tfTolerance = 0.1; // 100 ms
std::string tfPrefix = "";
pnh.param("config_path", configPath_, configPath_);
pnh.param("database_path", databasePath_, databasePath_);
@@ -145,7 +144,10 @@ void CoreWrapper::onInit()
pnh.param("publish_tf", publishTf, publishTf);
pnh.param("tf_delay", tfDelay, tfDelay);
pnh.param("tf_prefix", tfPrefix, tfPrefix);
if(pnh.hasParam("tf_prefix"))
{
ROS_ERROR("tf_prefix parameter has been removed, use directly map_frame_id, odom_frame_id and frame_id parameters.");
}
pnh.param("tf_tolerance", tfTolerance, tfTolerance);
pnh.param("odom_tf_angular_variance", odomDefaultAngVariance_, odomDefaultAngVariance_);
pnh.param("odom_tf_linear_variance", odomDefaultLinVariance_, odomDefaultLinVariance_);
@@ -166,31 +168,6 @@ void CoreWrapper::onInit()
"switches scan values.");
}
if(!tfPrefix.empty())
{
if(!frameId_.empty())
{
frameId_ = tfPrefix+"/"+frameId_;
}
if(!mapFrameId_.empty())
{
mapFrameId_ = tfPrefix+"/"+mapFrameId_;
}
if(!odomFrameId_.empty())
{
odomFrameId_ = tfPrefix+"/"+odomFrameId_;
}
if(!groundTruthFrameId_.empty())
{
groundTruthFrameId_ = tfPrefix+"/"+groundTruthFrameId_;
}
if(!groundTruthBaseFrameId_.empty())
{
groundTruthBaseFrameId_ = tfPrefix+"/"+groundTruthBaseFrameId_;
}
// keep worldFrameId_ without prefix as it should be global
}
NODELET_INFO("rtabmap: frame_id = %s", frameId_.c_str());
if(!odomFrameId_.empty())
{