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Added tf_prefix to nodes using tf

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Mathieu Labbe
2015-06-17 16:04:06 -04:00
parent e5c0c01acc
commit 206dda272e
4 changed files with 54 additions and 2 deletions
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src/GuiWrapper.cpp
+16 -1
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@@ -120,6 +120,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
bool subscribeStereo = false;
int queueSize = 10;
int depthCameras = 1;
std::string tfPrefix;
pnh.param("frame_id", frameId_, frameId_);
pnh.param("odom_frame_id", odomFrameId_, odomFrameId_); // set to use odom from TF
pnh.param("subscribe_depth", subscribeDepth, subscribeDepth);
@@ -128,8 +129,22 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
pnh.param("subscribe_stereo", subscribeStereo, subscribeStereo);
pnh.param("depth_cameras", depthCameras, depthCameras);
pnh.param("queue_size", queueSize, queueSize);
pnh.param("tf_prefix", tfPrefix, tfPrefix);
pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
pnh.param("camera_node_name", cameraNodeName_, cameraNodeName_); // used to pause the rtabmap/camera when pausing the process
pnh.param("camera_node_name", cameraNodeName_, cameraNodeName_); // used to pause the rtabmap_ros/camera when pausing the process
if(!tfPrefix.empty())
{
if(!frameId_.empty())
{
frameId_ = tfPrefix + "/" + frameId_;
}
if(!odomFrameId_.empty())
{
odomFrameId_ = tfPrefix + "/" + odomFrameId_;
}
}
this->setupCallbacks(
subscribeDepth,
subscribeLaserScan,