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rtabmap node: fixed Rtabmap/CreateIntermediateNodes ignored after first initialization.

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matlabbe
2021-01-24 13:49:07 -05:00
parent f24e9077a4
commit 4b878e45b9
1 changed files with 5 additions and 0 deletions
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src/CoreWrapper.cpp
+5
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@@ -2652,6 +2652,11 @@ bool CoreWrapper::updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Emp
rate_ = uStr2Float(parameters_.at(Parameters::kRtabmapDetectionRate())); rate_ = uStr2Float(parameters_.at(Parameters::kRtabmapDetectionRate()));
NODELET_INFO("RTAB-Map rate detection = %f Hz", rate_); NODELET_INFO("RTAB-Map rate detection = %f Hz", rate_);
} }
if(parameters_.find(Parameters::kRtabmapCreateIntermediateNodes()) != parameters_.end())
{
createIntermediateNodes_ = uStr2Bool(parameters_.at(Parameters::kRtabmapCreateIntermediateNodes()));
NODELET_INFO("Create intermediate nodes = %s", createIntermediateNodes_?"true":"false");
}
rtabmap_.parseParameters(parameters_); rtabmap_.parseParameters(parameters_);
mapsManager_.setParameters(parameters_); mapsManager_.setParameters(parameters_);
return true; return true;