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Update for rtabmap 0.23.10 (#1442)

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* Update for rtabmap 0.23.10

* fixing min version

* Fixed PythonInterface compilation error

* CI Added workflow_dispatch
This commit is contained in:
matlabbe
2026-08-06 14:50:22 -07:00
committed by GitHub
parent b51ba8798b
commit 38b45dca16
8 changed files with 26 additions and 6 deletions
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rtabmap_slam/src/CoreNode.cpp
+9
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@@ -32,6 +32,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/core/Version.h>
#ifdef RTABMAP_PYTHON
#include <rtabmap/core/PythonInterface.h>
#endif
#include "nodelet/loader.h"
int main(int argc, char** argv)
@@ -88,6 +91,12 @@ int main(int argc, char** argv)
nargv.push_back(argv[i]);
}
#ifdef RTABMAP_PYTHON
// Initialize the embedded python interpreter on the main thread, as
// the nodelet below is loaded in a worker thread.
rtabmap::PythonInterface::instance("rtabmap");
#endif
nodelet::Loader nodelet;
nodelet::M_string remap(ros::names::getRemappings());
std::string nodelet_name = ros::this_node::getName();
rtabmap_slam/src/CoreWrapper.cpp
+2 -2
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@@ -3332,10 +3332,10 @@ bool CoreWrapper::globalBundleAdjustmentCallback(rtabmap_msgs::GlobalBundleAdjus
UTimer timer;
int optimizer = (int)Optimizer::kTypeG2O; // g2o
int iterations = Parameters::defaultOptimizerIterations();
float pixelVariance = Parameters::defaultg2oPixelVariance();
float pixelVariance = Parameters::defaultOptimizerPixelVariance();
bool rematchFeatures = true;
Parameters::parse(parameters_, Parameters::kOptimizerIterations(), iterations);
Parameters::parse(parameters_, Parameters::kg2oPixelVariance(), pixelVariance);
Parameters::parse(parameters_, Parameters::kOptimizerPixelVariance(), pixelVariance);
if(req.type == 1.0f)
{
optimizer = (int)Optimizer::kTypeCVSBA;