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Leaving the depth format check to rtabmap library. Added warning on large baseline detected. Added "convert_depth_to_mm"=true argument to rgbd_mapping.launch

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matlabbe
2015-10-09 12:28:20 -04:00
parent 96fc6c81d6
commit 3269ccd196
7 changed files with 44 additions and 44 deletions
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src/OdometryROS.cpp
+2 -1
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@@ -308,7 +308,8 @@ Transform OdometryROS::getTransform(const std::string & fromFrameId, const std::
//if(!tfBuffer_.canTransform(fromFrameId, toFrameId, stamp, ros::Duration(1)))
if(!tfListener_.waitForTransform(fromFrameId, toFrameId, stamp, ros::Duration(waitForTransformDuration_)))
{
ROS_WARN("odometry: Could not get transform from %s to %s after %f seconds!", fromFrameId.c_str(), toFrameId.c_str(), waitForTransformDuration_);
ROS_WARN("odometry: Could not get transform from %s to %s (stamp=%f) after %f seconds (\"wait_for_transform_duration\"=%f)!",
fromFrameId.c_str(), toFrameId.c_str(), stamp.toSec(), waitForTransformDuration_, waitForTransformDuration_);
return transform;
}
}