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rtabmapviz: automatically read parameters from ros param server when receiving a map (fixing occupancy grid cell size not correctly set if rtabmapviz is started before rtabmap node, without having to open Preferences dialog and click apply to refresh the gui parameters)

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matlabbe
2022-01-26 15:42:07 -05:00
parent 293cfcf654
commit 5ce48e201a
4 changed files with 59 additions and 6 deletions
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src/rviz/MapCloudDisplay.cpp
+4 -2
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@@ -741,6 +741,7 @@ void MapCloudDisplay::update( float wall_dt, float ros_dt )
cloudInfoIt->second->pose_ = it->second;
Ogre::Vector3 framePosition;
Ogre::Quaternion frameOrientation;
std::string error;
if (context_->getFrameManager()->getTransform(cloudInfoIt->second->message_->header, framePosition, frameOrientation))
{
// Multiply frame with pose
@@ -761,11 +762,12 @@ void MapCloudDisplay::update( float wall_dt, float ros_dt )
cloudInfoIt->second->scene_node_->setVisible(true);
++totalNodesShown;
}
else
else if(context_->getFrameManager()->frameHasProblems(cloudInfoIt->second->message_->header.frame_id, cloudInfoIt->second->message_->header.stamp, error))
{
ROS_ERROR("MapCloudDisplay: Could not update pose of node %d (cannot transform pose in target frame id \"%s\", set fixed frame in global options to \"%s\")",
ROS_ERROR("MapCloudDisplay: Could not update pose of node %d (cannot transform pose in target frame id \"%s\" (reason=%s), set fixed frame in global options to \"%s\")",
it->first,
cloudInfoIt->second->message_->header.frame_id.c_str(),
error.c_str(),
cloudInfoIt->second->message_->header.frame_id.c_str());
}
}