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Fixed mapToOdom transform not set on getMap and publishMap services

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matlabbe
2015-12-17 12:13:31 -05:00
parent 97b7b0ccf4
commit 8355431160
1 changed files with 3 additions and 3 deletions
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src/CoreWrapper.cpp
+3 -3
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@@ -1678,7 +1678,7 @@ bool CoreWrapper::getMapCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros:
rtabmap_ros::mapDataToROS(poses, rtabmap_ros::mapDataToROS(poses,
constraints, constraints,
signatures, signatures,
Transform::getIdentity(), mapToOdom_,
res.data); res.data);
res.data.header.stamp = ros::Time::now(); res.data.header.stamp = ros::Time::now();
@@ -1821,7 +1821,7 @@ bool CoreWrapper::publishMapCallback(rtabmap_ros::PublishMap::Request& req, rtab
rtabmap_ros::mapDataToROS(poses, rtabmap_ros::mapDataToROS(poses,
constraints, constraints,
signatures, signatures,
Transform::getIdentity(), mapToOdom_,
*msg); *msg);
mapDataPub_.publish(msg); mapDataPub_.publish(msg);
@@ -1835,7 +1835,7 @@ bool CoreWrapper::publishMapCallback(rtabmap_ros::PublishMap::Request& req, rtab
rtabmap_ros::mapGraphToROS(poses, rtabmap_ros::mapGraphToROS(poses,
constraints, constraints,
Transform::getIdentity(), mapToOdom_,
*msg); *msg);
mapGraphPub_.publish(msg); mapGraphPub_.publish(msg);