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GridMap integration (#1082)

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* GridMap integration

* Updated with upstream changes

* updated with upstream changes

* some fixes
This commit is contained in:
matlabbe
2023-12-17 22:44:40 -08:00
committed by GitHub
parent 0748b91acc
commit 752e7524f5
6 changed files with 171 additions and 182 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+2 -1
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@@ -60,6 +60,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/DBDriver.h>
#include <rtabmap/core/Registration.h>
#include <rtabmap/core/Graph.h>
#include <rtabmap/core/LocalGridMaker.h>
#include <rtabmap/core/Optimizer.h>
#ifdef WITH_OCTOMAP_MSGS
@@ -2140,7 +2141,7 @@ void CoreWrapper::process(
rtabmap_.getMemory()->getLastSignatureId() != filteredPoses.rbegin()->first ||
rtabmap_.getMemory()->getLastWorkingSignature() == 0 ||
rtabmap_.getMemory()->getLastWorkingSignature()->sensorData().gridCellSize() == 0 ||
(!mapsManager_.getOccupancyGrid()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data
(!mapsManager_.getLocalMapMaker()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data
{
SensorData tmpData = data;
tmpData.setId(0);