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Added localization diagnostic when loc_thr parameter is set.

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matlabbe
2023-10-30 18:02:37 -07:00
parent 3293f2b51a
commit 806f0ad66d
5 changed files with 82 additions and 10 deletions
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rtabmap_sync/src/CommonDataSubscriber.cpp
+4 -2
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@@ -356,7 +356,8 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
void CommonDataSubscriber::setupCallbacks(
ros::NodeHandle & nh,
ros::NodeHandle & pnh,
const std::string & name)
const std::string & name,
std::vector<diagnostic_updater::DiagnosticTask*> otherTasks)
{
bool subscribeScan2d = false;
bool subscribeScan3d = false;
@@ -670,7 +671,8 @@ void CommonDataSubscriber::setupCallbacks(
approxSync_?
uFormat("If topics are not published at the same rate, you could increase \"queue_size\" parameter (current=%d).", queueSize_).c_str():
"Parameter \"approx_sync\" is false, which means that input topics should have all the exact timestamp for the callback to be called.",
subscribedTopicsMsg_.c_str()));
subscribedTopicsMsg_.c_str()),
otherTasks);
}
}