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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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CMakeLists.txt
+1 -1
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@@ -31,7 +31,7 @@ find_package(find_object_2d)
## System dependencies are found with CMake's conventions ## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system) # find_package(Boost REQUIRED COMPONENTS system)
find_package(RTABMap 0.20.14 REQUIRED) find_package(RTABMap 0.20.15 REQUIRED)
find_package(OpenCV REQUIRED) find_package(OpenCV REQUIRED)
package.xml
+1 -1
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@@ -1,7 +1,7 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<package> <package>
<name>rtabmap_ros</name> <name>rtabmap_ros</name>
<version>0.20.14</version> <version>0.20.15</version>
<description>RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description> <description>RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer> <maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author> <author>Mathieu Labbe</author>
src/CoreWrapper.cpp
+24 -19
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@@ -420,7 +420,12 @@ void CoreWrapper::onInit()
} }
if(!paramValue.empty()) if(!paramValue.empty())
{ {
if(iter->second.first) if(!iter->second.second.empty() && parameters_.find(iter->second.second)!=parameters_.end())
{
NODELET_WARN("Rtabmap: Parameter name changed: \"%s\" -> \"%s\". The new parameter is already used with value \"%s\", ignoring the old one with value \"%s\".",
iter->first.c_str(), iter->second.second.c_str(), parameters_.find(iter->second.second)->second.c_str(), paramValue.c_str());
}
else if(iter->second.first)
{ {
// can be migrated // can be migrated
uInsert(parameters_, ParametersPair(iter->second.second, paramValue)); uInsert(parameters_, ParametersPair(iter->second.second, paramValue));
@@ -450,26 +455,26 @@ void CoreWrapper::onInit()
bool subscribeScan3d = false; bool subscribeScan3d = false;
pnh.param("subscribe_scan", subscribeScan2d, subscribeScan2d); pnh.param("subscribe_scan", subscribeScan2d, subscribeScan2d);
pnh.param("subscribe_scan_cloud", subscribeScan3d, subscribeScan3d); pnh.param("subscribe_scan_cloud", subscribeScan3d, subscribeScan3d);
bool gridFromDepth = Parameters::defaultGridFromDepth(); int gridSensor = Parameters::defaultGridSensor();
if((subscribeScan2d || subscribeScan3d || genScan_) && parameters_.find(Parameters::kGridFromDepth()) == parameters_.end()) if((subscribeScan2d || subscribeScan3d || genScan_) && parameters_.find(Parameters::kGridSensor()) == parameters_.end())
{ {
NODELET_WARN("Setting \"%s\" parameter to false (default true) as \"subscribe_scan\", \"subscribe_scan_cloud\" or \"gen_scan\" is " NODELET_WARN("Setting \"%s\" parameter to 0 (default 1) as \"subscribe_scan\", \"subscribe_scan_cloud\" or \"gen_scan\" is "
"true. The occupancy grid map will be constructed from " "true. The occupancy grid map will be constructed from "
"laser scans. To get occupancy grid map from cloud projection, set \"%s\" " "laser scans. To get occupancy grid map from camera's cloud projection, set \"%s\" "
"to true. To suppress this warning, " "to 1. To suppress this warning, "
"add <param name=\"%s\" type=\"string\" value=\"false\"/>", "add <param name=\"%s\" type=\"string\" value=\"0\"/>",
Parameters::kGridFromDepth().c_str(), Parameters::kGridSensor().c_str(),
Parameters::kGridFromDepth().c_str(), Parameters::kGridSensor().c_str(),
Parameters::kGridFromDepth().c_str()); Parameters::kGridSensor().c_str());
parameters_.insert(ParametersPair(Parameters::kGridFromDepth(), "false")); parameters_.insert(ParametersPair(Parameters::kGridSensor(), "0"));
} }
Parameters::parse(parameters_, Parameters::kGridFromDepth(), gridFromDepth); Parameters::parse(parameters_, Parameters::kGridSensor(), gridSensor);
if((subscribeScan2d || subscribeScan3d || genScan_) && parameters_.find(Parameters::kGridRangeMax()) == parameters_.end() && !gridFromDepth) if((subscribeScan2d || subscribeScan3d || genScan_) && parameters_.find(Parameters::kGridRangeMax()) == parameters_.end() && gridSensor==0)
{ {
NODELET_INFO("Setting \"%s\" parameter to 0 (default %f) as \"subscribe_scan\", \"subscribe_scan_cloud\" or \"gen_scan\" is true and %s is false.", NODELET_INFO("Setting \"%s\" parameter to 0 (default %f) as \"subscribe_scan\", \"subscribe_scan_cloud\" or \"gen_scan\" is true and %s is 0.",
Parameters::kGridRangeMax().c_str(), Parameters::kGridRangeMax().c_str(),
Parameters::defaultGridRangeMax(), Parameters::defaultGridRangeMax(),
Parameters::kGridFromDepth().c_str()); Parameters::kGridSensor().c_str());
parameters_.insert(ParametersPair(Parameters::kGridRangeMax(), "0")); parameters_.insert(ParametersPair(Parameters::kGridRangeMax(), "0"));
} }
if(subscribeScan3d && parameters_.find(Parameters::kIcpPointToPlaneRadius()) == parameters_.end()) if(subscribeScan3d && parameters_.find(Parameters::kIcpPointToPlaneRadius()) == parameters_.end())
@@ -3401,14 +3406,14 @@ bool CoreWrapper::getMapData2Callback(rtabmap_ros::GetMap2::Request& req, rtabma
bool CoreWrapper::getProjMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res) bool CoreWrapper::getProjMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
{ {
if(parameters_.find(Parameters::kGridFromDepth()) != parameters_.end() && if(parameters_.find(Parameters::kGridSensor()) != parameters_.end() &&
!uStr2Bool(parameters_.at(Parameters::kGridFromDepth()))) uStr2Int(parameters_.at(Parameters::kGridSensor()))==0)
{ {
NODELET_WARN("/get_proj_map service is deprecated! Call /get_grid_map service " NODELET_WARN("/get_proj_map service is deprecated! Call /get_grid_map service "
"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 " "Do \"$ rosrun rtabmap_ros rtabmap --params | grep Grid\" to see "
"all occupancy grid parameters.", "all occupancy grid parameters.",
Parameters::kGridFromDepth().c_str()); Parameters::kGridSensor().c_str());
} }
else else
{ {
src/MapsManager.cpp
+10 -10
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@@ -824,14 +824,14 @@ void MapsManager::publishMaps(
if(scanMapPub_.getNumSubscribers()) if(scanMapPub_.getNumSubscribers())
{ {
if(parameters_.find(Parameters::kGridFromDepth()) != parameters_.end() && if(parameters_.find(Parameters::kGridSensor()) != parameters_.end() &&
uStr2Bool(parameters_.at(Parameters::kGridFromDepth()))) uStr2Int(parameters_.at(Parameters::kGridSensor()))==1)
{ {
ROS_WARN("/scan_map topic is deprecated! Subscribe to /cloud_map topic " 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 " "Do \"$ rosrun rtabmap_ros rtabmap --params | grep Grid\" to see "
"all occupancy grid parameters.", "all occupancy grid parameters.",
Parameters::kGridFromDepth().c_str()); Parameters::kGridSensor().c_str());
} }
else else
{ {
@@ -1332,10 +1332,10 @@ void MapsManager::publishMaps(
else if(poses.size()) else if(poses.size())
{ {
ROS_WARN("Octomap projection map is empty! (poses=%d octomap nodes=%d). " 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.", "See \"$ rosrun rtabmap_ros rtabmap --params | grep Grid\" for more info.",
(int)poses.size(), (int)octomap_->octree()->size(), (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(projMapPub_.getNumSubscribers())
{ {
if(parameters_.find(Parameters::kGridFromDepth()) != parameters_.end() && if(parameters_.find(Parameters::kGridSensor()) != parameters_.end() &&
!uStr2Bool(parameters_.at(Parameters::kGridFromDepth()))) uStr2Int(parameters_.at(Parameters::kGridSensor()))==0)
{ {
ROS_WARN("/proj_map topic is deprecated! Subscribe to /grid_map topic " 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 " "Do \"$ rosrun rtabmap_ros rtabmap --params | grep Grid\" to see "
"all occupancy grid parameters.", "all occupancy grid parameters.",
Parameters::kGridFromDepth().c_str()); Parameters::kGridSensor().c_str());
} }
else else
{ {
src/OdometryROS.cpp
+6 -1
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@@ -301,7 +301,12 @@ void OdometryROS::onInit()
std::string vStr; std::string vStr;
if(pnh.getParam(iter->first, vStr)) if(pnh.getParam(iter->first, vStr))
{ {
if(iter->second.first && parameters_.find(iter->second.second) != parameters_.end()) if(!iter->second.second.empty() && parameters_.find(iter->second.second)!=parameters_.end())
{
NODELET_WARN("Rtabmap: Parameter name changed: \"%s\" -> \"%s\". The new parameter is already used with value \"%s\", ignoring the old one with value \"%s\".",
iter->first.c_str(), iter->second.second.c_str(), parameters_.find(iter->second.second)->second.c_str(), vStr.c_str());
}
else if(iter->second.first && parameters_.find(iter->second.second) != parameters_.end())
{ {
// can be migrated // can be migrated
parameters_.at(iter->second.second)= vStr; parameters_.at(iter->second.second)= vStr;