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Merge branch 'master' of github.com:introlab/rtabmap_ros into devel

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matlabbe
2016-06-22 12:04:07 -04:00
parent 400a38174e 01b05a0f5c
commit 43d71ed139
2 changed files with 15 additions and 14 deletions
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launch/azimut3/az3_mapping_robot_stereo_nav.launch
+1 -14
View File
@@ -21,7 +21,7 @@
<group ns="planner"> <group ns="planner">
<remap from="openni_points" to="/planner_cloud"/> <remap from="openni_points" to="/planner_cloud"/>
<remap from="base_scan" to="/base_scan"/> <remap from="base_scan" to="/base_scan"/>
<remap from="map" to="/map"/> <remap from="map" to="/rtabmap/proj_map"/>
<remap from="move_base_simple/goal" to="/planner_goal"/> <remap from="move_base_simple/goal" to="/planner_goal"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
@@ -160,20 +160,7 @@
<param name="LccReextract/Activated" type="string" value="true"/> <param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxWords" type="string" value="500"/> <param name="LccReextract/MaxWords" type="string" value="500"/>
<!-- Disable graph optimization because we use map_optimizer node below -->
<param name="RGBD/ToroIterations" type="string" value="0"/>
</node> </node>
<!-- Optimizing outside rtabmap node makes it able to optimize always the global map -->
<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
<node pkg="rtabmap_ros" type="map_assembler" name="map_assembler">
<param name="occupancy_grid" type="bool" value="true"/>
<remap from="mapData" to="mapData_optimized"/>
<remap from="grid_projection_map" to="/map"/>
</node>
</group> </group>
</launch> </launch>
src/CoreWrapper.cpp
+14
View File
@@ -1712,6 +1712,20 @@ void CoreWrapper::goalCallback(const geometry_msgs::PoseStampedConstPtr & msg)
ROS_ERROR("Pose received is null!"); ROS_ERROR("Pose received is null!");
return; return;
} }
// transform goal in /map frame
if(mapFrameId_.compare(msg->header.frame_id) != 0)
{
Transform t = this->getTransform(mapFrameId_, msg->header.frame_id, msg->header.stamp);
if(t.isNull())
{
ROS_ERROR("Cannot transform goal pose from \"%s\" frame to \"%s\" frame!",
msg->header.frame_id.c_str(), mapFrameId_.c_str());
return;
}
targetPose = t * targetPose;
}
goalCommonCallback(0, "", targetPose, msg->header.stamp); goalCommonCallback(0, "", targetPose, msg->header.stamp);
} }