i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

sync build with rtabmap 0.10.4

Browse Source
This commit is contained in:
matlabbe
2015-08-03 18:21:00 -04:00
parent c240e75423
commit 833049a03f
2 changed files with 42 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/GuiWrapper.cpp
+41 -41
View File
@@ -300,41 +300,38 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdPause)
{
if(cmdEvent->getInt())
// Pause the camera if the rtabmap/camera node is used
if(!cameraNodeName_.empty())
{
// Pause the camera if the rtabmap/camera node is used
if(!cameraNodeName_.empty())
{
std::string str = uFormat("rosrun dynamic_reconfigure dynparam set %s pause true", cameraNodeName_.c_str());
system(str.c_str());
}
// Pause visual_odometry
ros::service::call("pause_odom", emptySrv);
// Pause rtabmap
if(!ros::service::call("pause", emptySrv))
{
ROS_ERROR("Can't call \"pause\" service");
}
std::string str = uFormat("rosrun dynamic_reconfigure dynparam set %s pause true", cameraNodeName_.c_str());
system(str.c_str());
}
else
// Pause visual_odometry
ros::service::call("pause_odom", emptySrv);
// Pause rtabmap
if(!ros::service::call("pause", emptySrv))
{
// Resume rtabmap
if(!ros::service::call("resume", emptySrv))
{
ROS_ERROR("Can't call \"resume\" service");
}
ROS_ERROR("Can't call \"pause\" service");
}
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdResume)
{
// Resume rtabmap
if(!ros::service::call("resume", emptySrv))
{
ROS_ERROR("Can't call \"resume\" service");
}
// Pause visual_odometry
ros::service::call("resume_odom", emptySrv);
// Pause visual_odometry
ros::service::call("resume_odom", emptySrv);
// Resume the camera if the rtabmap/camera node is used
if(!cameraNodeName_.empty())
{
std::string str = uFormat("rosrun dynamic_reconfigure dynparam set %s pause false", cameraNodeName_.c_str());
system(str.c_str());
}
// Resume the camera if the rtabmap/camera node is used
if(!cameraNodeName_.empty())
{
std::string str = uFormat("rosrun dynamic_reconfigure dynparam set %s pause false", cameraNodeName_.c_str());
system(str.c_str());
}
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdTriggerNewMap)
@@ -344,15 +341,16 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
ROS_ERROR("Can't call \"trigger_new_map\" service");
}
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdPublish3DMapLocal ||
cmd == rtabmap::RtabmapEventCmd::kCmdPublish3DMapGlobal ||
cmd == rtabmap::RtabmapEventCmd::kCmdPublishTOROGraphLocal ||
cmd == rtabmap::RtabmapEventCmd::kCmdPublishTOROGraphGlobal)
else if(cmd == rtabmap::RtabmapEventCmd::kCmdPublish3DMap)
{
UASSERT(cmdEvent->value1().isBool());
UASSERT(cmdEvent->value2().isBool());
UASSERT(cmdEvent->value3().isBool());
rtabmap_ros::GetMap getMapSrv;
getMapSrv.request.global = cmd == rtabmap::RtabmapEventCmd::kCmdPublish3DMapGlobal || cmd == rtabmap::RtabmapEventCmd::kCmdPublishTOROGraphGlobal;
getMapSrv.request.optimized = cmdEvent->getInt();
getMapSrv.request.graphOnly = cmd == rtabmap::RtabmapEventCmd::kCmdPublishTOROGraphGlobal || cmd == rtabmap::RtabmapEventCmd::kCmdPublishTOROGraphLocal;
getMapSrv.request.global = cmdEvent->value1().toBool();
getMapSrv.request.optimized = cmdEvent->value2().toBool();
getMapSrv.request.graphOnly = cmdEvent->value3().toBool();
if(!ros::service::call("get_map", getMapSrv))
{
ROS_WARN("Can't call \"get_map\" service");
@@ -365,9 +363,10 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdGoal)
{
UASSERT(cmdEvent->value1().isStr() || cmdEvent->value1().isInt() || cmdEvent->value1().isUInt());
rtabmap_ros::SetGoal setGoalSrv;
setGoalSrv.request.node_id = cmdEvent->getInt();
setGoalSrv.request.node_label = cmdEvent->getStr();
setGoalSrv.request.node_id = !cmdEvent->value1().isStr()?cmdEvent->value1().toInt():0;
setGoalSrv.request.node_label = cmdEvent->value1().isStr()?cmdEvent->value1().toStr():"";
if(!ros::service::call("set_goal", setGoalSrv))
{
ROS_ERROR("Can't call \"set_goal\" service");
@@ -382,9 +381,10 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdLabel)
{
UASSERT(cmdEvent->value1().isStr() || cmdEvent->value1().isInt() || cmdEvent->value1().isUInt());
rtabmap_ros::SetLabel setLabelSrv;
setLabelSrv.request.node_id = cmdEvent->getInt();
setLabelSrv.request.node_label = cmdEvent->getStr();
setLabelSrv.request.node_id = !cmdEvent->value1().isStr()?cmdEvent->value1().toInt():0;
setLabelSrv.request.node_label = cmdEvent->value1().isStr()?cmdEvent->value1().toStr():"";
if(!ros::service::call("set_label", setLabelSrv))
{
ROS_ERROR("Can't call \"set_label\" service");