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ros-pkg: updated for RTAB-Map 0.6.5

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1432 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-22 03:35:17 +00:00
parent d021efe4ea
commit 2c82fb0585
8 changed files with 131 additions and 28 deletions
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src/CoreWrapper.cpp
+9 -1
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@@ -124,7 +124,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
}
// set public parameters
nh.param("is_rtabmap_paused", paused_, paused_);
nh.setParam("is_rtabmap_paused", paused_);
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
nh.setParam(iter->first, iter->second);
@@ -201,6 +201,14 @@ CoreWrapper::~CoreWrapper()
this->saveParameters(configPath_);
ros::NodeHandle nh;
ParametersMap parameters = Parameters::getDefaultParameters();
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
nh.deleteParam(iter->first);
}
nh.deleteParam("is_rtabmap_paused");
std::string databasePath = rtabmap_.getDatabasePath();
printf("rtabmap: Saving database/long-term memory... (located at %s)\n", databasePath.c_str());
}