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

merged master->ros2

Browse Source
This commit is contained in:
matlabbe
2025-06-08 15:45:43 -07:00
parent 50fe38ef6c 2f0ff06056
commit 29b4734cd7
18 changed files with 89 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_slam/package.xml
+1 -1
View File
@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_slam</name>
<version>0.21.10</version>
<version>0.21.13</version>
<description>RTAB-Map's SLAM package.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_slam/src/CoreWrapper.cpp
+25 -7
View File
@@ -364,7 +364,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
std::string vStr = this->declare_parameter(iter->first, iter->second);
if(overrides.find(iter->first) != overrides.end())
{
RCLCPP_INFO(this->get_logger(), "Setting RTAB-Map parameter \"%s\"=\"%s\"", iter->first.c_str(), vStr.c_str());
RCLCPP_INFO(this->get_logger(), "Setting RTAB-Map parameter \"%s\"=\"%s\" (rosparam)", iter->first.c_str(), vStr.c_str());
if(iter->first.compare(Parameters::kRtabmapWorkingDirectory()) == 0)
{
@@ -3197,14 +3197,16 @@ void CoreWrapper::loadDatabaseCallback(
// Open new database
databasePath_ = newDatabasePath;
// modify default parameters with those in the database
//Warn if database's parameters are different than the current ones we are using
if(!req->clear && UFile::exists(databasePath_))
{
ParametersMap dbParameters;
rtabmap::DBDriver * driver = rtabmap::DBDriver::create();
std::string databaseVersion = "0.0.0";
if(driver->openConnection(databasePath_))
{
dbParameters = driver->getLastParameters(); // parameter migration is already done
databaseVersion = driver->getDatabaseVersion();
}
delete driver;
for(ParametersMap::iterator iter=dbParameters.begin(); iter!=dbParameters.end(); ++iter)
@@ -3214,15 +3216,31 @@ void CoreWrapper::loadDatabaseCallback(
// ignore working directory
continue;
}
if(parameters_.find(iter->first) == parameters_.end() &&
parameters_.find(iter->first)->second.compare(iter->second) !=0)
if(iter->first.find("Odom") == 0)
{
RCLCPP_WARN(get_logger(), "RTAB-Map parameter \"%s\" from database (%s) is different "
"from the current used one (%s). We still keep the "
// ignore odometry params
continue;
}
if(parameters_.find(iter->first) == parameters_.end())
{
RCLCPP_WARN(get_logger(), "RTAB-Map parameter \"%s\" from database (%s, version \"%s\") doesn't exist "
"in current rtabmap version (\"%s\"). The parameter is ignored.",
iter->first.c_str(),
iter->second.c_str(),
databaseVersion.c_str(),
RTABMAP_VERSION);
}
else if(parameters_.find(iter->first)->second.compare(iter->second) !=0)
{
RCLCPP_WARN(get_logger(), "RTAB-Map parameter \"%s\" from database (%s, version=\"%s\") is different "
"from the current used one (%s, version=\"%s\"). We still keep the "
"current parameter value (%s). If you want to switch between databases "
"with different configurations, restart rtabmap node instead of using this service.",
iter->first.c_str(), iter->second.c_str(),
iter->first.c_str(),
iter->second.c_str(),
databaseVersion.c_str(),
parameters_.find(iter->first)->second.c_str(),
RTABMAP_VERSION,
parameters_.find(iter->first)->second.c_str());
}
}