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fixed sending goal commands from rtabmapviz

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This commit is contained in:
matlabbe
2015-08-04 14:17:46 -04:00
parent ea2ea00b7e
commit 44924a3aa1
2 changed files with 4 additions and 4 deletions
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launch/demo/demo_robot_mapping.launch
-1
View File
@@ -37,7 +37,6 @@
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
</node>
src/GuiWrapper.cpp
+4 -3
View File
@@ -381,10 +381,11 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdLabel)
{
UASSERT(cmdEvent->value1().isStr() || cmdEvent->value1().isInt() || cmdEvent->value1().isUInt());
UASSERT(cmdEvent->value1().isStr());
UASSERT(cmdEvent->value2().isUndef() || cmdEvent->value2().isInt() || cmdEvent->value2().isUInt());
rtabmap_ros::SetLabel setLabelSrv;
setLabelSrv.request.node_id = !cmdEvent->value1().isStr()?cmdEvent->value1().toInt():0;
setLabelSrv.request.node_label = cmdEvent->value1().isStr()?cmdEvent->value1().toStr():"";
setLabelSrv.request.node_label = cmdEvent->value1().toStr();
setLabelSrv.request.node_id = cmdEvent->value2().isUndef()?0:cmdEvent->value2().toInt();
if(!ros::service::call("set_label", setLabelSrv))
{
ROS_ERROR("Can't call \"set_label\" service");