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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/OdometryROS.cpp
+4 -18
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@@ -112,12 +112,14 @@ void OdometryROS::onInit()
Transform initialPose = Transform::getIdentity();
std::string initialPoseStr;
std::string tfPrefix;
std::string configPath;
pnh.param("frame_id", frameId_, frameId_);
pnh.param("odom_frame_id", odomFrameId_, odomFrameId_);
pnh.param("publish_tf", publishTf_, publishTf_);
pnh.param("tf_prefix", tfPrefix, tfPrefix);
if(pnh.hasParam("tf_prefix"))
{
ROS_ERROR("tf_prefix parameter has been removed, use directly odom_frame_id and frame_id parameters.");
}
pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
pnh.param("initial_pose", initialPoseStr, initialPoseStr); // "x y z roll pitch yaw"
@@ -141,22 +143,6 @@ void OdometryROS::onInit()
configPath = UDirectory::currentDir(true) + configPath;
}
if(!tfPrefix.empty())
{
if(!frameId_.empty())
{
frameId_ = tfPrefix + "/" + frameId_;
}
if(!odomFrameId_.empty())
{
odomFrameId_ = tfPrefix + "/" + odomFrameId_;
}
if(!groundTruthFrameId_.empty())
{
groundTruthFrameId_ = tfPrefix + "/" + groundTruthFrameId_;
}
}
if(initialPoseStr.size())
{
std::vector<std::string> values = uListToVector(uSplit(initialPoseStr, ' '));