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Fixed node ID=0 issues as msgs may not have seq. (#1202)

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(cherry picked from commit 097cab0667)
This commit is contained in:
Borong Yuan
2024-09-01 21:38:25 -07:00
committed by GitHub
parent a97efff760
commit 3eb0b47a55
2 changed files with 4 additions and 5 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+2 -5
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@@ -1778,10 +1778,7 @@ void CoreWrapper::commonSensorDataCallback(
}
SensorData data = rtabmap_conversions::sensorDataFromROS(*sensorDataMsg);
if(lastPoseIntermediate_)
{
data.setId(-1);
}
data.setId(lastPoseIntermediate_?-1:0);
OdometryInfo odomInfo;
if(odomInfoMsg.get())
@@ -2282,7 +2279,7 @@ void CoreWrapper::process(
}
// If not intermediate node
if(data.id() > 0)
if(data.id() >= 0)
{
localizationDiagnostic_.updateStatus(rtabmap_.getStatistics().localizationCovariance(), twoDMapping_);
tick(stamp, rate_>0?rate_:1000.0/(timeMsgConversion+timeRtabmap+timeUpdateMaps+timePublishMaps));