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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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This commit is contained in:
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/MsgConversion.cpp
+3 -2
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@@ -200,7 +200,7 @@ void infoToROS(const rtabmap::Statistics & stats, rtabmap_ros::Info & info)
rtabmap::Link linkFromROS(const rtabmap_ros::Link & msg)
{
return rtabmap::Link(msg.fromId, msg.toId, (rtabmap::Link::Type)msg.type, transformFromGeometryMsg(msg.transform), msg.variance);
return rtabmap::Link(msg.fromId, msg.toId, (rtabmap::Link::Type)msg.type, transformFromGeometryMsg(msg.transform), msg.rotVariance, msg.transVariance);
}
void linkToROS(const rtabmap::Link & link, rtabmap_ros::Link & msg)
@@ -208,7 +208,8 @@ void linkToROS(const rtabmap::Link & link, rtabmap_ros::Link & msg)
msg.fromId = link.from();
msg.toId = link.to();
msg.type = link.type();
msg.variance = link.variance();
msg.rotVariance = link.rotVariance();
msg.transVariance = link.transVariance();
transformToGeometryMsg(link.transform(), msg.transform);
}