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Merged master->ros2. Updated turtlebot3 RGB-D examples (added instructions to add depth camera instead of copying sdf from another project)

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matlabbe
2022-01-29 18:01:08 -05:00
parent 0d7529332b 62b1058218
commit 324a0fe49a
18 changed files with 906 additions and 45 deletions
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src/PreferencesDialogROS.cpp
+14
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@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QMessageBox>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UThread.h>
using namespace rtabmap;
@@ -67,6 +68,11 @@ QString PreferencesDialogROS::getTmpIniFilePath() const
return QDir::homePath()+"/.ros/"+QFileInfo(configFile_).fileName()+".tmp";
}
void PreferencesDialogROS::readRtabmapNodeParameters()
{
readCoreSettings(getTmpIniFilePath());
}
void PreferencesDialogROS::readCameraSettings(const QString &)
{
this->setInputRate(0);
@@ -77,6 +83,13 @@ QString PreferencesDialogROS::getParamMessage()
return tr("Reading parameters from the ROS server...");
}
bool PreferencesDialogROS::hasAllParameters()
{
auto node = std::make_shared<rclcpp::Node>("rtabmapviz");
auto client = std::make_shared<rclcpp::AsyncParametersClient>(node, rtabmapNodeName_);
return client->service_is_ready();
}
bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
{
QString path = getIniFilePath();
@@ -102,6 +115,7 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
}
std::vector<std::string> rosParameters;
for(rtabmap::ParametersMap::iterator i=parameters.begin(); i!=parameters.end(); ++i)
{
if(i->first.compare(rtabmap::Parameters::kRtabmapWorkingDirectory()) == 0)