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Updated for rtabmap 0.20.15.

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matlabbe
2021-10-29 20:07:17 -04:00
parent 42fca441ff
commit 206a02c189
5 changed files with 42 additions and 32 deletions
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src/MapsManager.cpp
+10 -10
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@@ -824,14 +824,14 @@ void MapsManager::publishMaps(
if(scanMapPub_.getNumSubscribers())
{
if(parameters_.find(Parameters::kGridFromDepth()) != parameters_.end() &&
uStr2Bool(parameters_.at(Parameters::kGridFromDepth())))
if(parameters_.find(Parameters::kGridSensor()) != parameters_.end() &&
uStr2Int(parameters_.at(Parameters::kGridSensor()))==1)
{
ROS_WARN("/scan_map topic is deprecated! Subscribe to /cloud_map topic "
"instead with <param name=\"%s\" type=\"string\" value=\"false\"/>. "
"instead with <param name=\"%s\" type=\"string\" value=\"0\"/>. "
"Do \"$ rosrun rtabmap_ros rtabmap --params | grep Grid\" to see "
"all occupancy grid parameters.",
Parameters::kGridFromDepth().c_str());
Parameters::kGridSensor().c_str());
}
else
{
@@ -1332,10 +1332,10 @@ void MapsManager::publishMaps(
else if(poses.size())
{
ROS_WARN("Octomap projection map is empty! (poses=%d octomap nodes=%d). "
"Make sure you activated \"%s\" and \"%s\" to true. "
"Make sure you enabled \"%s\" and set \"%s\"=1. "
"See \"$ rosrun rtabmap_ros rtabmap --params | grep Grid\" for more info.",
(int)poses.size(), (int)octomap_->octree()->size(),
Parameters::kGrid3D().c_str(), Parameters::kGridFromDepth().c_str());
Parameters::kGrid3D().c_str(), Parameters::kGridSensor().c_str());
}
}
}
@@ -1403,14 +1403,14 @@ void MapsManager::publishMaps(
{
if(projMapPub_.getNumSubscribers())
{
if(parameters_.find(Parameters::kGridFromDepth()) != parameters_.end() &&
!uStr2Bool(parameters_.at(Parameters::kGridFromDepth())))
if(parameters_.find(Parameters::kGridSensor()) != parameters_.end() &&
uStr2Int(parameters_.at(Parameters::kGridSensor()))==0)
{
ROS_WARN("/proj_map topic is deprecated! Subscribe to /grid_map topic "
"instead with <param name=\"%s\" type=\"string\" value=\"true\"/>. "
"instead with <param name=\"%s\" type=\"string\" value=\"1\"/>. "
"Do \"$ rosrun rtabmap_ros rtabmap --params | grep Grid\" to see "
"all occupancy grid parameters.",
Parameters::kGridFromDepth().c_str());
Parameters::kGridSensor().c_str());
}
else
{