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rtabmap: added info log after mode is changed

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matlabbe
2020-08-03 12:49:49 -04:00
parent 56be5dca06
commit 2806baee55
1 changed files with 2 additions and 0 deletions
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src/CoreWrapper.cpp
+2
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@@ -2650,6 +2650,7 @@ bool CoreWrapper::setModeLocalizationCallback(std_srvs::Empty::Request&, std_srv
ros::NodeHandle & nh = getNodeHandle(); ros::NodeHandle & nh = getNodeHandle();
nh.setParam(rtabmap::Parameters::kMemIncrementalMemory(), "false"); nh.setParam(rtabmap::Parameters::kMemIncrementalMemory(), "false");
rtabmap_.parseParameters(parameters); rtabmap_.parseParameters(parameters);
NODELET_INFO("rtabmap: Localization mode enabled!");
return true; return true;
} }
@@ -2661,6 +2662,7 @@ bool CoreWrapper::setModeMappingCallback(std_srvs::Empty::Request&, std_srvs::Em
ros::NodeHandle & nh = getNodeHandle(); ros::NodeHandle & nh = getNodeHandle();
nh.setParam(rtabmap::Parameters::kMemIncrementalMemory(), "true"); nh.setParam(rtabmap::Parameters::kMemIncrementalMemory(), "true");
rtabmap_.parseParameters(parameters); rtabmap_.parseParameters(parameters);
NODELET_INFO("rtabmap: Mapping mode enabled!");
return true; return true;
} }