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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/GuiWrapper.cpp
+10 -5
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@@ -72,7 +72,8 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
odomSensorSync_(false),
maxOdomUpdateRate_(10),
cameraNodeName_(""),
lastOdomInfoUpdateTime_(0)
lastOdomInfoUpdateTime_(0),
rtabmapNodeName_("rtabmap")
{
ros::NodeHandle nh;
ros::NodeHandle pnh("~");
@@ -93,14 +94,18 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
configFile.replace('~', QDir::homePath());
pnh.param("rtabmap", rtabmapNodeName_, rtabmapNodeName_);
ROS_INFO("rtabmapviz: Using configuration from \"%s\"", configFile.toStdString().c_str());
uSleep(500);
prefDialog_ = new PreferencesDialogROS(configFile);
prefDialog_ = new PreferencesDialogROS(configFile, rtabmapNodeName_);
mainWindow_ = new MainWindow(prefDialog_);
mainWindow_->setWindowTitle(mainWindow_->windowTitle()+" [ROS]");
mainWindow_->show();
bool paused = false;
nh.param("is_rtabmap_paused", paused, paused);
ros::NodeHandle rnh(rtabmapNodeName_);
rnh.param("is_rtabmap_paused", paused, paused);
mainWindow_->setMonitoringState(paused);
// To receive odometry events
@@ -249,13 +254,13 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
const rtabmap::ParametersMap & defaultParameters = rtabmap::Parameters::getDefaultParameters();
rtabmap::ParametersMap parameters = ((rtabmap::ParamEvent *)anEvent)->getParameters();
bool modified = false;
ros::NodeHandle nh;
ros::NodeHandle rnh(rtabmapNodeName_);
for(rtabmap::ParametersMap::iterator i=parameters.begin(); i!=parameters.end(); ++i)
{
//save only parameters with valid names
if(defaultParameters.find((*i).first) != defaultParameters.end())
{
nh.setParam((*i).first, (*i).second);
rnh.setParam((*i).first, (*i).second);
modified = true;
}
else if((*i).first.find('/') != (*i).first.npos)