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Fixed occupancy grid reset in localization mode when we update parameters live, losing optimized map if we had one.

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This commit is contained in:
matlabbe
2025-03-22 21:09:28 -07:00
parent 3b5766361d
commit 70ddb3fc83
1 changed files with 8 additions and 2 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+8 -2
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@@ -922,7 +922,10 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "RTAB-Map rate detection = %f Hz", rate_);
}
rtabmap_.parseParameters(parameters_);
mapsManager_.setParameters(parameters_);
// Don't reset map in localization mode
if(rtabmap_.getMemory()->isIncremental()) {
mapsManager_.setParameters(parameters_);
}
}
};
@@ -2971,7 +2974,10 @@ void CoreWrapper::updateRtabmapCallback(
RCLCPP_INFO(get_logger(), "2D mapping = %s", twoDMapping_?"true":"false");
}
rtabmap_.parseParameters(parameters_);
mapsManager_.setParameters(parameters_);
// Don't reset map in localization mode
if(rtabmap_.getMemory()->isIncremental()) {
mapsManager_.setParameters(parameters_);
}
}
void CoreWrapper::resetRtabmapCallback(