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ros-pkg: added map_optimizer node

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1897 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-18 00:00:42 +00:00
parent ae38cd2a54
commit 2d6c8faaa5
4 changed files with 268 additions and 7 deletions
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src/CoreWrapper.cpp
+12 -1
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@@ -67,6 +67,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
odomFrameId_(""),
configPath_(""),
mapToOdom_(tf::Transform::getIdentity()),
transformThread_(0),
rate_(Parameters::defaultRtabmapDetectionRate()),
time_(ros::Time::now())
{
@@ -244,7 +245,17 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
setupCallbacks(subscribeDepth, subscribeLaserScan, subscribeStereo, queueSize);
transformThread_ = new boost::thread(boost::bind(&CoreWrapper::publishLoop, this, tfDelay));
int toroIterations = 0;
Parameters::parse(parameters, Parameters::kRGBDToroIterations(), toroIterations);
if(toroIterations != 0)
{
transformThread_ = new boost::thread(boost::bind(&CoreWrapper::publishLoop, this, tfDelay));
}
else
{
UWARN("Graph optimization is disabled (%s=0), the tf between frame \"%s\" and odometry frame will not be published. You can safely ignore this warning if you are using map_optimizer node.",
Parameters::kRGBDToroIterations().c_str(), mapFrameId_.c_str());
}
}
CoreWrapper::~CoreWrapper()