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Backporting ros2 commit 0ad034680b

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matlabbe
2025-09-14 23:44:46 +00:00
parent e355deca43
commit 3fa20f56fb
4 changed files with 80 additions and 13 deletions
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rtabmap_odom/src/nodelets/icp_odometry.cpp
+13 -1
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@@ -91,7 +91,19 @@ private:
ros::NodeHandle & pnh = getPrivateNodeHandle();
int queueSize = 1;
pnh.param("queue_size", queueSize, queueSize);
pnh.param("topic_queue_size", queueSize, queueSize);
if(pnh.hasParam("queue_size") && !pnh.hasParam("topic_queue_size"))
{
pnh.param("queue_size", queueSize, queueSize);
ROS_WARN("Parameter \"queue_size\" has been renamed "
"to \"topic_queue_size\" and will be removed "
"in future versions! The value (%d) is still copied to "
"\"topic_queue_size\".", queueSize);
}
else
{
pnh.param("topic_queue_size", queueSize, queueSize);
}
pnh.param("scan_cloud_max_points", scanCloudMaxPoints_, scanCloudMaxPoints_);
pnh.param("scan_cloud_is_2d", scanCloudIs2d_, scanCloudIs2d_);
pnh.param("scan_downsampling_step", scanDownsamplingStep_, scanDownsamplingStep_);