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minor fix and log about octomap update

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matlabbe
2016-07-18 22:37:24 -04:00
parent 446345447f
commit 3c49f3139d
1 changed files with 10 additions and 1 deletions
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src/MapsManager.cpp
+10 -1
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@@ -269,7 +269,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
bool updateOctomap,
const std::map<int, rtabmap::Signature> & signatures)
{
if(!updateCloud && !updateProj && !updateGrid && !updateScan)
if(!updateCloud && !updateProj && !updateGrid && !updateScan && !updateOctomap)
{
// all false, udpate only those where we have subscribers
updateCloud = cloudMapPub_.getNumSubscribers() != 0;
@@ -367,6 +367,15 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
ROS_WARN("Many scans should be created (~%d), this may take a while to update the map(s)...", int(filteredPoses.size()-scans_.size()));
longUpdate = true;
}
#ifdef WITH_OCTOMAP_ROS
#ifdef RTABMAP_OCTOMAP
else if(updateOctomap && octomap_->addedNodes().size() < 5)
{
ROS_WARN("Many clouds should be added to octomap (~%d), this may take a while to update the map(s)...", int(filteredPoses.size()-octomap_->addedNodes().size()));
longUpdate = true;
}
#endif
#endif
}
for(std::map<int, rtabmap::Transform>::iterator iter=filteredPoses.begin(); iter!=filteredPoses.end(); ++iter)