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rtabmapviz: if odom topic doesn't have child_frame_id set, log a warning.

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matlabbe
2021-01-22 14:18:30 -05:00
parent 21090899d4
commit 2c635f7242
1 changed files with 24 additions and 3 deletions
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src/GuiWrapper.cpp
+24 -3
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@@ -440,7 +440,14 @@ void GuiWrapper::commonDepthCallback(
if(odomMsg.get()) if(odomMsg.get())
{ {
odomHeader = odomMsg->header; odomHeader = odomMsg->header;
frameId = odomMsg->child_frame_id; if(!odomMsg->child_frame_id.empty())
{
frameId = odomMsg->child_frame_id;
}
else
{
ROS_WARN("Received odom topic with child_frame_id not set! Using \"%s\" as base frame.", frameId_.c_str());
}
} }
else else
{ {
@@ -618,7 +625,14 @@ void GuiWrapper::commonStereoCallback(
if(odomMsg.get()) if(odomMsg.get())
{ {
odomHeader = odomMsg->header; odomHeader = odomMsg->header;
frameId = odomMsg->child_frame_id; if(!odomMsg->child_frame_id.empty())
{
frameId = odomMsg->child_frame_id;
}
else
{
ROS_WARN("Received odom topic with child_frame_id not set! Using \"%s\" as base frame.", frameId_.c_str());
}
} }
else else
{ {
@@ -780,7 +794,14 @@ void GuiWrapper::commonLaserScanCallback(
if(odomMsg.get()) if(odomMsg.get())
{ {
odomHeader = odomMsg->header; odomHeader = odomMsg->header;
frameId = odomMsg->child_frame_id; if(!odomMsg->child_frame_id.empty())
{
frameId = odomMsg->child_frame_id;
}
else
{
ROS_WARN("Received odom topic with child_frame_id not set! Using \"%s\" as base frame.", frameId_.c_str());
}
} }
else else
{ {