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rtabmap parameters are now private. rtabmapviz has now a parameter "rtabmap" (rtabmap node name) to get/set parameters. Added clear_params option (default true) to rtabmap.launch. This fixes http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-rosmon-is-not-running-twice-td8373.html

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This commit is contained in:
matlabbe
2021-09-08 15:41:32 -04:00
parent e0fa1c264a
commit 533669dca7
8 changed files with 48 additions and 66 deletions
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src/CoreWrapper.cpp
+12 -19
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@@ -610,6 +610,7 @@ void CoreWrapper::onInit()
Parameters::parse(parameters_, Parameters::kRegForce3DoF(), twoDMapping_);
}
pnh.param("is_rtabmap_paused", paused_);
if(paused_)
{
NODELET_WARN("Node paused... don't forget to call service \"resume\" to start rtabmap.");
@@ -801,11 +802,10 @@ void CoreWrapper::onInit()
}
}
// set public parameters
nh.setParam("is_rtabmap_paused", paused_);
// set private parameters
for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
{
nh.setParam(iter->first, iter->second);
pnh.setParam(iter->first, iter->second);
}
userDataAsyncSub_ = nh.subscribe("user_data_async", 1, &CoreWrapper::userDataAsyncCallback, this);
@@ -828,13 +828,6 @@ CoreWrapper::~CoreWrapper()
this->saveParameters(configPath_);
ros::NodeHandle nh;
for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
{
nh.deleteParam(iter->first);
}
nh.deleteParam("is_rtabmap_paused");
printf("rtabmap: Saving database/long-term memory... (located at %s)\n", databasePath_.c_str());
if(rtabmap_.getMemory())
{
@@ -2719,29 +2712,29 @@ void CoreWrapper::goalNodeCallback(const rtabmap_ros::GoalConstPtr & msg)
bool CoreWrapper::updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ros::NodeHandle nh;
ros::NodeHandle pnh("~");
for(rtabmap::ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
{
std::string vStr;
bool vBool;
int vInt;
double vDouble;
if(nh.getParam(iter->first, vStr))
if(pnh.getParam(iter->first, vStr))
{
NODELET_INFO("Setting RTAB-Map parameter \"%s\"=\"%s\"", iter->first.c_str(), vStr.c_str());
iter->second = vStr;
}
else if(nh.getParam(iter->first, vBool))
else if(pnh.getParam(iter->first, vBool))
{
NODELET_INFO("Setting RTAB-Map parameter \"%s\"=\"%s\"", iter->first.c_str(), uBool2Str(vBool).c_str());
iter->second = uBool2Str(vBool);
}
else if(nh.getParam(iter->first, vInt))
else if(pnh.getParam(iter->first, vInt))
{
NODELET_INFO("Setting RTAB-Map parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vInt).c_str());
iter->second = uNumber2Str(vInt).c_str();
}
else if(nh.getParam(iter->first, vDouble))
else if(pnh.getParam(iter->first, vDouble))
{
NODELET_INFO("Setting RTAB-Map parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vDouble).c_str());
iter->second = uNumber2Str(vDouble).c_str();
@@ -2822,8 +2815,8 @@ bool CoreWrapper::pauseRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empt
{
paused_ = true;
NODELET_INFO("rtabmap: paused!");
ros::NodeHandle nh;
nh.setParam("is_rtabmap_paused", true);
ros::NodeHandle pnh("~");
pnh.setParam("is_rtabmap_paused", true);
}
return true;
}
@@ -2838,8 +2831,8 @@ bool CoreWrapper::resumeRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Emp
{
paused_ = false;
NODELET_INFO("rtabmap: resumed!");
ros::NodeHandle nh;
nh.setParam("is_rtabmap_paused", false);
ros::NodeHandle pnh("~");
pnh.setParam("is_rtabmap_paused", false);
}
return true;
}