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ros-pkg: updated demo_robot_mapping.launch (fixed local loop lcosure detection not working at the end of the sequence because optimization was done outside)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2051 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-19 23:41:11 +00:00
parent af1a92e031
commit 5b41c2add5
4 changed files with 18 additions and 182 deletions
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src/CoreWrapper.cpp
+7
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@@ -174,6 +174,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
std::list<std::string> oldParameterNames;
oldParameterNames.push_back("LccReextract/LoopClosureFeatures");
oldParameterNames.push_back("Rtabmap/DetectorStrategy");
oldParameterNames.push_back("RGBD/ScanMatchingSize");
for(std::list<std::string>::iterator iter=oldParameterNames.begin(); iter!=oldParameterNames.end(); ++iter)
{
std::string vStr;
@@ -191,6 +192,12 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
Parameters::kKpDetectorStrategy().c_str());
parameters.at(Parameters::kKpDetectorStrategy())= vStr;
}
else if(iter->compare("RGBD/ScanMatchingSize") == 0)
{
ROS_WARN("Parameter name changed: RGBD/ScanMatchingSize -> %s. Please update your launch file accordingly.",
Parameters::kRGBDPoseScanMatching().c_str());
parameters.at(Parameters::kRGBDPoseScanMatching())= std::atoi(vStr.c_str()) > 0?"true":"false";
}
}
}