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Fixed some compilation warnings

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matlabbe
2021-10-07 09:22:01 -04:00
parent b531f96c31
commit 1f600abda6
13 changed files with 47 additions and 7 deletions
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README.md
+1 -1
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@@ -40,7 +40,7 @@ $ ros2 launch rtabmap_ros rtabmap.launch.py \
$ git clone https://github.com/introlab/rtabmap.git src/rtabmap $ git clone https://github.com/introlab/rtabmap.git src/rtabmap
$ git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros $ git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM $ export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM
$ colcon build $ colcon build --symlink-install
``` ```
# Example with Turtlebot3 # Example with Turtlebot3
src/MapsManager.cpp
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@@ -324,6 +324,7 @@ bool MapsManager::hasSubscribers() const
cloudGroundPub_->get_subscription_count() != 0 || cloudGroundPub_->get_subscription_count() != 0 ||
gridMapPub_->get_subscription_count() != 0 || gridMapPub_->get_subscription_count() != 0 ||
gridProbMapPub_->get_subscription_count() != 0 gridProbMapPub_->get_subscription_count() != 0
#ifdef RTABMAP_OCTOMAP
#ifdef WITH_OCTOMAP_MSGS #ifdef WITH_OCTOMAP_MSGS
|| ||
octoMapCloud_->get_subscription_count() != 0 || octoMapCloud_->get_subscription_count() != 0 ||
@@ -332,6 +333,7 @@ bool MapsManager::hasSubscribers() const
octoMapGroundCloud_->get_subscription_count() != 0 || octoMapGroundCloud_->get_subscription_count() != 0 ||
octoMapEmptySpace_->get_subscription_count() != 0 || octoMapEmptySpace_->get_subscription_count() != 0 ||
octoMapProj_->get_subscription_count() != 0 octoMapProj_->get_subscription_count() != 0
#endif
#endif #endif
; ;
} }
@@ -358,6 +360,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
if(!updateGrid && !updateOctomap) if(!updateGrid && !updateOctomap)
{ {
// all false, update only those where we have subscribers // all false, update only those where we have subscribers
#ifdef RTABMAP_OCTOMAP
#ifdef WITH_OCTOMAP_MSGS #ifdef WITH_OCTOMAP_MSGS
updateOctomap = updateOctomap =
octoMapCloud_->get_subscription_count() != 0 || octoMapCloud_->get_subscription_count() != 0 ||
@@ -366,6 +369,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
octoMapGroundCloud_->get_subscription_count() != 0 || octoMapGroundCloud_->get_subscription_count() != 0 ||
octoMapEmptySpace_->get_subscription_count() != 0 || octoMapEmptySpace_->get_subscription_count() != 0 ||
octoMapProj_->get_subscription_count() != 0; octoMapProj_->get_subscription_count() != 0;
#endif
#endif #endif
updateGrid = gridMapPub_->get_subscription_count() != 0 || updateGrid = gridMapPub_->get_subscription_count() != 0 ||
src/impl/CommonDataSubscriberDepth.cpp
+4
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@@ -458,7 +458,11 @@ void CommonDataSubscriber::depthOdomDataScanDescInfoCallback(
void CommonDataSubscriber::setupDepthCallbacks( void CommonDataSubscriber::setupDepthCallbacks(
rclcpp::Node& node, rclcpp::Node& node,
bool subscribeOdom, bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData, bool subscribeUserData,
#else
bool,
#endif
bool subscribeScan2d, bool subscribeScan2d,
bool subscribeScan3d, bool subscribeScan3d,
bool subscribeScanDesc, bool subscribeScanDesc,
src/impl/CommonDataSubscriberRGB.cpp
+4
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@@ -458,7 +458,11 @@ void CommonDataSubscriber::rgbOdomDataScanDescInfoCallback(
void CommonDataSubscriber::setupRGBCallbacks( void CommonDataSubscriber::setupRGBCallbacks(
rclcpp::Node& node, rclcpp::Node& node,
bool subscribeOdom, bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData, bool subscribeUserData,
#else
bool,
#endif
bool subscribeScan2d, bool subscribeScan2d,
bool subscribeScan3d, bool subscribeScan3d,
bool subscribeScanDesc, bool subscribeScanDesc,
src/impl/CommonDataSubscriberRGBD.cpp
+4
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@@ -533,7 +533,11 @@ void CommonDataSubscriber::rgbdOdomDataInfoCallback(
void CommonDataSubscriber::setupRGBDCallbacks( void CommonDataSubscriber::setupRGBDCallbacks(
rclcpp::Node& node, rclcpp::Node& node,
bool subscribeOdom, bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData, bool subscribeUserData,
#else
bool,
#endif
bool subscribeScan2d, bool subscribeScan2d,
bool subscribeScan3d, bool subscribeScan3d,
bool subscribeScanDesc, bool subscribeScanDesc,
src/impl/CommonDataSubscriberRGBD2.cpp
+4
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@@ -343,7 +343,11 @@ void CommonDataSubscriber::rgbd2OdomDataInfoCallback(
void CommonDataSubscriber::setupRGBD2Callbacks( void CommonDataSubscriber::setupRGBD2Callbacks(
rclcpp::Node& node, rclcpp::Node& node,
bool subscribeOdom, bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData, bool subscribeUserData,
#else
bool,
#endif
bool subscribeScan2d, bool subscribeScan2d,
bool subscribeScan3d, bool subscribeScan3d,
bool subscribeScanDesc, bool subscribeScanDesc,
src/impl/CommonDataSubscriberRGBD3.cpp
+4
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@@ -430,7 +430,11 @@ void CommonDataSubscriber::rgbd3OdomDataInfoCallback(
void CommonDataSubscriber::setupRGBD3Callbacks( void CommonDataSubscriber::setupRGBD3Callbacks(
rclcpp::Node& node, rclcpp::Node& node,
bool subscribeOdom, bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData, bool subscribeUserData,
#else
bool,
#endif
bool subscribeScan2d, bool subscribeScan2d,
bool subscribeScan3d, bool subscribeScan3d,
bool subscribeScanDescriptor, bool subscribeScanDescriptor,
src/impl/CommonDataSubscriberRGBD4.cpp
+4
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@@ -398,7 +398,11 @@ void CommonDataSubscriber::rgbd4OdomDataInfoCallback(
void CommonDataSubscriber::setupRGBD4Callbacks( void CommonDataSubscriber::setupRGBD4Callbacks(
rclcpp::Node& node, rclcpp::Node& node,
bool subscribeOdom, bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData, bool subscribeUserData,
#else
bool,
#endif
bool subscribeScan2d, bool subscribeScan2d,
bool subscribeScan3d, bool subscribeScan3d,
bool subscribeScanDesc, bool subscribeScanDesc,
src/impl/CommonDataSubscriberRGBDX.cpp
+4
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@@ -320,7 +320,11 @@ void CommonDataSubscriber::rgbdXOdomDataInfoCallback(
void CommonDataSubscriber::setupRGBDXCallbacks( void CommonDataSubscriber::setupRGBDXCallbacks(
rclcpp::Node& node, rclcpp::Node& node,
bool subscribeOdom, bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData, bool subscribeUserData,
#else
bool,
#endif
bool subscribeScan2d, bool subscribeScan2d,
bool subscribeScan3d, bool subscribeScan3d,
bool subscribeScanDesc, bool subscribeScanDesc,
src/impl/CommonDataSubscriberScan.cpp
+9 -1
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@@ -272,14 +272,22 @@ void CommonDataSubscriber::setupScanCallbacks(
bool scan2dTopic, bool scan2dTopic,
bool scanDescTopic, bool scanDescTopic,
bool subscribeOdom, bool subscribeOdom,
#ifdef RTABMAP_SYNC_USER_DATA
bool subscribeUserData, bool subscribeUserData,
#else
bool,
#endif
bool subscribeOdomInfo, bool subscribeOdomInfo,
int queueSize, int queueSize,
bool approxSync) bool approxSync)
{ {
RCLCPP_INFO(node.get_logger(), "Setup scan callback"); RCLCPP_INFO(node.get_logger(), "Setup scan callback");
if(subscribeOdom || subscribeUserData || subscribeOdomInfo) if(subscribeOdom ||
#ifdef RTABMAP_SYNC_USER_DATA
subscribeUserData ||
#endif
subscribeOdomInfo)
{ {
if(scanDescTopic) if(scanDescTopic)
{ {
src/rviz/InfoDisplay.cpp
+2 -2
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@@ -81,7 +81,7 @@ void InfoDisplay::processMessage( const rtabmap_ros::msg::Info::ConstSharedPtr m
this->emitTimeSignal(msg->header.stamp); this->emitTimeSignal(msg->header.stamp);
} }
void InfoDisplay::update( float wall_dt, float ros_dt ) void InfoDisplay::update( float /*wall_dt*/, float /*ros_dt*/ )
{ {
{ {
std::unique_lock<std::mutex> lock(info_mutex_); std::unique_lock<std::mutex> lock(info_mutex_);
@@ -122,5 +122,5 @@ void InfoDisplay::reset()
} // namespace rtabmap_ros } // namespace rtabmap_ros
#include <pluginlib/class_list_macros.h> #include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS( rtabmap_ros::InfoDisplay, rviz_common::Display ) PLUGINLIB_EXPORT_CLASS( rtabmap_ros::InfoDisplay, rviz_common::Display )
src/rviz/MapCloudDisplay.cpp
+2 -2
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@@ -489,7 +489,7 @@ void MapCloudDisplay::updateCloudParameters()
// do nothing... only take effect on next generated clouds // do nothing... only take effect on next generated clouds
} }
void MapCloudDisplay::downloadMap(bool graphOnly) void MapCloudDisplay::downloadMap(bool /*graphOnly*/)
{ {
RCLCPP_ERROR(rviz_ros_node_.lock()->get_raw_node()->get_logger(), "MapCloud plugin: DownloadMap still not working on ros2"); RCLCPP_ERROR(rviz_ros_node_.lock()->get_raw_node()->get_logger(), "MapCloud plugin: DownloadMap still not working on ros2");
return; return;
@@ -718,7 +718,7 @@ void MapCloudDisplay::update( float, float )
0, 0, 0, 1); 0, 0, 0, 1);
frameTransform = frameTransform * pose; frameTransform = frameTransform * pose;
Ogre::Vector3 posePosition = frameTransform.getTrans(); Ogre::Vector3 posePosition = frameTransform.getTrans();
Ogre::Quaternion poseOrientation = frameTransform.extractQuaternion(); Ogre::Quaternion poseOrientation(frameTransform.linear());
poseOrientation.normalise(); poseOrientation.normalise();
cloudInfoIt->second->scene_node_->setPosition(posePosition); cloudInfoIt->second->scene_node_->setPosition(posePosition);
src/rviz/MapGraphDisplay.cpp
+1 -1
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@@ -175,5 +175,5 @@ void MapGraphDisplay::processMessage( const rtabmap_ros::msg::MapGraph::ConstSha
} // namespace rtabmap_ros } // namespace rtabmap_ros
#include <pluginlib/class_list_macros.h> #include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS( rtabmap_ros::MapGraphDisplay, rviz_common::Display ) PLUGINLIB_EXPORT_CLASS( rtabmap_ros::MapGraphDisplay, rviz_common::Display )