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fixed #1117

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matlabbe
2024-02-10 15:36:13 -08:00
parent e800bb07f7
commit 74d611c465
1 changed files with 3 additions and 1 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+3 -1
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@@ -328,10 +328,12 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
{ {
RCLCPP_WARN(get_logger(), "Node paused... don't forget to call service \"resume\" to start rtabmap."); RCLCPP_WARN(get_logger(), "Node paused... don't forget to call service \"resume\" to start rtabmap.");
} }
const std::map<std::string, rclcpp::ParameterValue> & overrides = this->get_node_parameters_interface()->get_parameter_overrides();
for(ParametersMap::iterator iter=allParameters.begin(); iter!=allParameters.end(); ++iter) for(ParametersMap::iterator iter=allParameters.begin(); iter!=allParameters.end(); ++iter)
{ {
std::string vStr = this->declare_parameter(iter->first, iter->second); std::string vStr = this->declare_parameter(iter->first, iter->second);
if(vStr.compare(iter->second)!=0) if(overrides.find(iter->first) != overrides.end())
{ {
RCLCPP_INFO(this->get_logger(), "Setting RTAB-Map parameter \"%s\"=\"%s\"", iter->first.c_str(), vStr.c_str()); RCLCPP_INFO(this->get_logger(), "Setting RTAB-Map parameter \"%s\"=\"%s\"", iter->first.c_str(), vStr.c_str());