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updated package to rtabmap 0.8.4. Fixed not saved database on exit (bug introduced with the last commit).

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Mathieu Labbe
2015-02-24 16:08:08 -05:00
parent f52c34746e
commit 6020b60926
11 changed files with 129 additions and 39 deletions
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src/DbPlayerNode.cpp
+6 -6
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@@ -252,12 +252,12 @@ int main(int argc, char** argv)
odom.header.frame_id = odomFrameId;
odom.header.stamp = time;
rtabmap_ros::transformToPoseMsg(data.pose(), odom.pose.pose);
odom.pose.covariance[0] = data.poseVariance();
odom.pose.covariance[7] = data.poseVariance();
odom.pose.covariance[14] = data.poseVariance();
odom.pose.covariance[21] = data.poseVariance();
odom.pose.covariance[28] = data.poseVariance();
odom.pose.covariance[35] = data.poseVariance();
odom.pose.covariance[0] = data.poseTransVariance();
odom.pose.covariance[7] = data.poseTransVariance();
odom.pose.covariance[14] = data.poseTransVariance();
odom.pose.covariance[21] = data.poseRotVariance();
odom.pose.covariance[28] = data.poseRotVariance();
odom.pose.covariance[35] = data.poseRotVariance();
odometryPub.publish(odom);
}
}