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See #658. README: added example to colcon with cmake options.

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matlabbe
2021-10-14 16:11:56 -04:00
parent 1f600abda6
commit 4ba60c8aff
2 changed files with 6 additions and 1 deletions
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README.md
+5
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@@ -43,6 +43,11 @@ $ ros2 launch rtabmap_ros rtabmap.launch.py \
$ colcon build --symlink-install $ colcon build --symlink-install
``` ```
* To build with `rgbd_cameras>1` support and/or `subscribe_user_data` support:
```bash
$ colcon build --symlink-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON
```
# Example with Turtlebot3 # Example with Turtlebot3
1. Launch Turtlebot3 simulator: 1. Launch Turtlebot3 simulator:
src/CoreWrapper.cpp
+1 -1
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@@ -3199,7 +3199,7 @@ void CoreWrapper::globalBundleAdjustmentCallback(
iterations, iterations,
pixelVariance, pixelVariance,
rematchFeatures?"true":"false"); rematchFeatures?"true":"false");
bool success = rtabmap_.globalBundleAdjustment((Optimizer::Type)optimizer, iterations, pixelVariance, rematchFeatures); bool success = rtabmap_.globalBundleAdjustment((Optimizer::Type)optimizer, rematchFeatures, iterations, pixelVariance);
if(!success) if(!success)
{ {
RCLCPP_ERROR(get_logger(), "Post-Processing: Global Bundle Adjustment failed!"); RCLCPP_ERROR(get_logger(), "Post-Processing: Global Bundle Adjustment failed!");