i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 01:07:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added SaveObjectsExample node (added optional dependency on find_object_2d). Updated demo_find_object.launch. rtabmap: Added mutex around user data access.

Browse Source
This commit is contained in:
matlabbe
2018-05-23 10:53:13 -04:00
parent a39ffe382c
commit 2139338b11
7 changed files with 344 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/CoreWrapper.cpp
+11 -5
View File
@@ -1117,6 +1117,7 @@ void CoreWrapper::commonDepthCallbackImpl(
if(userDataMsg.get())
{
userData = rtabmap_ros::userDataFromROS(*userDataMsg);
UScopeMutex lock(userDataMutex_);
if(!userData_.empty())
{
NODELET_WARN("Synchronized and asynchronized user data topics cannot be used at the same time. Async user data dropped!");
@@ -1125,6 +1126,7 @@ void CoreWrapper::commonDepthCallbackImpl(
}
else
{
UScopeMutex lock(userDataMutex_);
userData = userData_;
userData_ = cv::Mat();
}
@@ -1363,6 +1365,7 @@ void CoreWrapper::commonStereoCallback(
if(userDataMsg.get())
{
userData = rtabmap_ros::userDataFromROS(*userDataMsg);
UScopeMutex lock(userDataMutex_);
if(!userData_.empty())
{
NODELET_WARN("Synchronized and asynchronized user data topics cannot be used at the same time. Async user data dropped!");
@@ -1371,6 +1374,7 @@ void CoreWrapper::commonStereoCallback(
}
else
{
UScopeMutex lock(userDataMutex_);
userData = userData_;
userData_ = cv::Mat();
}
@@ -1663,6 +1667,7 @@ void CoreWrapper::userDataAsyncCallback(const rtabmap_ros::UserDataConstPtr & da
{
if(!paused_)
{
UScopeMutex lock(userDataMutex_);
if(!userData_.empty())
{
ROS_WARN("Overwriting previous user data set. Asynchronous user "
@@ -1670,10 +1675,7 @@ void CoreWrapper::userDataAsyncCallback(const rtabmap_ros::UserDataConstPtr & da
"lower rate than map update rate (current %s=%f).",
Parameters::kRtabmapDetectionRate().c_str(), rate_);
}
else
{
userData_ = rtabmap_ros::userDataFromROS(*dataMsg);
}
userData_ = rtabmap_ros::userDataFromROS(*dataMsg);
}
}
@@ -1912,8 +1914,10 @@ bool CoreWrapper::resetRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empt
latestNodeWasReached_ = false;
mapsManager_.clear();
previousStamp_ = ros::Time(0);
userData_ = cv::Mat();
globalPose_.header.stamp = ros::Time(0);
userDataMutex_.lock();
userData_ = cv::Mat();
userDataMutex_.unlock();
return true;
}
@@ -1967,7 +1971,9 @@ bool CoreWrapper::backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Em
currentMetricGoal_.setNull();
lastPublishedMetricGoal_.setNull();
latestNodeWasReached_ = false;
userDataMutex_.lock();
userData_ = cv::Mat();
userDataMutex_.unlock();
globalPose_.header.stamp = ros::Time(0);
NODELET_INFO("Backup: Saving \"%s\" to \"%s\"...", databasePath_.c_str(), (databasePath_+".back").c_str());