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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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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/OdometryROS.cpp
+6 -8
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@@ -96,14 +96,6 @@ OdometryROS::~OdometryROS()
warningThread_->join();
delete warningThread_;
}
ros::NodeHandle & pnh = getPrivateNodeHandle();
if(pnh.ok())
{
for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
{
pnh.deleteParam(iter->first);
}
}
delete odometry_;
}
@@ -332,6 +324,12 @@ void OdometryROS::onInit()
}
}
// set private parameters
for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
{
pnh.setParam(iter->first, iter->second);
}
Parameters::parse(parameters_, Parameters::kOdomResetCountdown(), resetCountdown_);
parameters_.at(Parameters::kOdomResetCountdown()) = "0"; // use modified reset countdown here