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Fixed ros2 build with latest rtabmap library (#544)

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This commit is contained in:
matlabbe
2021-03-02 16:42:08 +00:00
parent 8ef6cff877
commit 688584db65
4 changed files with 12 additions and 11 deletions
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src/OdometryROS.cpp
+4 -4
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@@ -315,7 +315,7 @@ void OdometryROS::init(bool stereoParams, bool visParams, bool icpParams)
odomStrategy_ = 0;
Parameters::parse(this->parameters(), Parameters::kOdomStrategy(), odomStrategy_);
if(waitIMUToinit_ || odometry_->canProcessIMU())
if(waitIMUToinit_ || odometry_->canProcessAsyncIMU())
{
int queueSize = 10;
queueSize = this->declare_parameter("queue_size", queueSize);
@@ -354,7 +354,7 @@ void OdometryROS::callbackIMU(const sensor_msgs::msg::Imu::SharedPtr msg)
{
if(!this->isPaused())
{
if(!odometry_->canProcessIMU() &&
if(!odometry_->canProcessAsyncIMU() &&
!odometry_->getPose().isIdentity())
{
// For non-inertial odometry approaches, IMU is only used to initialize the initial orientation below
@@ -382,7 +382,7 @@ void OdometryROS::callbackIMU(const sensor_msgs::msg::Imu::SharedPtr msg)
cv::Mat(3,3,CV_64FC1,(void*)msg->linear_acceleration_covariance.data()).clone(),
localTransform);
if(!odometry_->canProcessIMU())
if(!odometry_->canProcessAsyncIMU())
{
if(!odometry_->getPose().isIdentity())
{
@@ -452,7 +452,7 @@ void OdometryROS::processData(const SensorData & data, const rclcpp::Time & stam
Transform groundTruth;
if(!data.imageRaw().empty() || !data.laserScanRaw().isEmpty())
{
if(odometry_->canProcessIMU() && data.imu().empty() && lastImuReceivedStamp_>0.0 && data.stamp() > lastImuReceivedStamp_)
if(odometry_->canProcessAsyncIMU() && data.imu().empty() && lastImuReceivedStamp_>0.0 && data.stamp() > lastImuReceivedStamp_)
{
//RCLCPP_WARN(this->get_logger(), "Data received is more recent than last imu received, waiting for imu update to process it.");
if(bufferedData_.isValid())