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ros2: fixed build with rtabmap 0.20.0

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matlabbe
2020-06-05 14:08:50 -04:00
parent 377a35a2bd
commit 62650c2f4e
3 changed files with 5 additions and 5 deletions
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CMakeLists.txt
+1 -1
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@@ -53,7 +53,7 @@ find_package(image_geometry REQUIRED)
#find_package(find_object_2d)
## System dependencies are found with CMake's conventions
find_package(RTABMap 0.19.5 REQUIRED)
find_package(RTABMap 0.20.0 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system) # dependencies from PCL
find_package(PCL 1.7 REQUIRED COMPONENTS kdtree) #This crashes idl generation if all components are found?! see https://github.com/ros2/rosidl/issues/402#issuecomment-565586908
package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_ros</name>
<version>0.19.3</version>
<version>0.20.0</version>
<description>RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
src/MapsManager.cpp
+3 -3
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@@ -270,7 +270,7 @@ void MapsManager::set2DMap(
if(!uContains(gridMaps_, iter->first))
{
rtabmap::SensorData data;
data = memory->getSignatureDataConst(iter->first, false, false, false, true);
data = memory->getNodeData(iter->first, false, false, false, true);
if(data.gridCellSize() == 0.0f)
{
UWARN("Local occupancy grid doesn't exist for node %d", iter->first);
@@ -471,7 +471,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
}
else if(memory)
{
data = memory->getSignatureDataConst(iter->first, occupancyGrid_->isGridFromDepth() && !occupancySavedInDB, !occupancyGrid_->isGridFromDepth() && !occupancySavedInDB, false, true);
data = memory->getNodeData(iter->first, occupancyGrid_->isGridFromDepth() && !occupancySavedInDB, !occupancyGrid_->isGridFromDepth() && !occupancySavedInDB, false, true);
}
UDEBUG("Adding grid map %d to cache...", iter->first);
@@ -500,7 +500,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
{
// if we are here, it is because we loaded a database with old nodes not having occupancy grid set
// try reload again
data = memory->getSignatureDataConst(iter->first, occupancyGrid_->isGridFromDepth(), !occupancyGrid_->isGridFromDepth(), false, false);
data = memory->getNodeData(iter->first, occupancyGrid_->isGridFromDepth(), !occupancyGrid_->isGridFromDepth(), false, false);
}
data.uncompressData(
occupancyGrid_->isGridFromDepth() && generateGrid?&rgb:0,