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Added MapGraph message to avoid MapGraphDisplay to subscribe to MapData (which can contain node data not used by MapGraphDisplay, that also limit the bandwidth used when MapCloudDisplay and MapGraphDisplay are added to RVIZ)

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matlabbe
2015-09-15 16:40:07 -04:00
parent 10a508c12c
commit 5edae82d98
17 changed files with 138 additions and 81 deletions
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src/rviz/MapCloudDisplay.cpp
+6 -6
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@@ -299,9 +299,9 @@ void MapCloudDisplay::processMapData(const rtabmap_ros::MapData& map)
// Update graph
std::map<int, rtabmap::Transform> poses;
for(unsigned int i=0; i<map.posesId.size() && i<map.poses.size(); ++i)
for(unsigned int i=0; i<map.graph.posesId.size() && i<map.graph.poses.size(); ++i)
{
poses.insert(std::make_pair(map.posesId[i], rtabmap_ros::transformFromPoseMsg(map.poses[i])));
poses.insert(std::make_pair(map.graph.posesId[i], rtabmap_ros::transformFromPoseMsg(map.graph.poses[i])));
}
if(node_filtering_angle_->getFloat() > 0.0f && node_filtering_radius_->getFloat() > 0.0f)
@@ -482,12 +482,12 @@ void MapCloudDisplay::downloadMap()
else
{
messageBox->setText(tr("Creating all clouds (%1 poses and %2 clouds downloaded)...")
.arg(getMapSrv.response.data.poses.size()).arg(getMapSrv.response.data.nodes.size()));
.arg(getMapSrv.response.data.graph.poses.size()).arg(getMapSrv.response.data.nodes.size()));
QApplication::processEvents();
this->reset();
processMapData(getMapSrv.response.data);
messageBox->setText(tr("Creating all clouds (%1 poses and %2 clouds downloaded)... done!")
.arg(getMapSrv.response.data.poses.size()).arg(getMapSrv.response.data.nodes.size()));
.arg(getMapSrv.response.data.graph.poses.size()).arg(getMapSrv.response.data.nodes.size()));
QTimer::singleShot(1000, messageBox, SLOT(close()));
}
@@ -539,10 +539,10 @@ void MapCloudDisplay::downloadGraph()
}
else
{
messageBox->setText(tr("Updating the map (%1 nodes downloaded)...").arg(getMapSrv.response.data.poses.size()));
messageBox->setText(tr("Updating the map (%1 nodes downloaded)...").arg(getMapSrv.response.data.graph.poses.size()));
QApplication::processEvents();
processMapData(getMapSrv.response.data);
messageBox->setText(tr("Updating the map (%1 nodes downloaded)... done!").arg(getMapSrv.response.data.poses.size()));
messageBox->setText(tr("Updating the map (%1 nodes downloaded)... done!").arg(getMapSrv.response.data.graph.poses.size()));
QTimer::singleShot(1000, messageBox, SLOT(close()));
}