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removed displacement too small warning when the robot is not moving

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Mathieu Labbe
2015-02-17 18:54:08 -05:00
parent dcee7ef2e2
commit 22f2246a05
1 changed files with 5 additions and 6 deletions
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src/CoreWrapper.cpp
+5 -6
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@@ -960,12 +960,7 @@ void CoreWrapper::process(
odomVariance, odomVariance,
id); id);
if(!rtabmap_.process(data)) if(rtabmap_.process(data))
{
timeRtabmap = timer.ticks();
ROS_WARN("RTAB-Map could not process the data received! (ROS id = %d)", id);
}
else
{ {
timeRtabmap = timer.ticks(); timeRtabmap = timer.ticks();
mapToOdomMutex_.lock(); mapToOdomMutex_.lock();
@@ -1029,6 +1024,10 @@ void CoreWrapper::process(
} }
} }
} }
else
{
timeRtabmap = timer.ticks();
}
ROS_INFO("rtabmap: Update rate=%fs, Limit=%fs, RTAB-Map=%fs, Publish=%fs (%d local nodes)", ROS_INFO("rtabmap: Update rate=%fs, Limit=%fs, RTAB-Map=%fs, Publish=%fs (%d local nodes)",
1.0f/rate_, 1.0f/rate_,
rtabmap_.getTimeThreshold()/1000.0f, rtabmap_.getTimeThreshold()/1000.0f,