Updated default wait_for_transform to 0.2 s

src/CoreWrapper.cpp

@@ -85,7 +85,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
 		configPath_(""),
 		databasePath_(UDirectory::homeDir()+"/.ros/"+rtabmap::Parameters::getDefaultDatabaseName()),
 		waitForTransform_(true),
-		waitForTransformDuration_(0.1), // 100 ms
+		waitForTransformDuration_(0.2), // 200 ms
 		useActionForGoal_(false),
 		genScan_(false),
 		genScanMaxDepth_(4.0),

src/GuiNode.cpp

@@ -34,13 +34,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <signal.h>
 
 QApplication * app = 0;
+ros::AsyncSpinner * spinner = 0;
 
 void my_handler(int s){
 	ROS_INFO("rtabmapviz: ctrl-c catched! Exiting Qt app...");
-	if(app)
-	{
-		QMetaObject::invokeMethod(app, "quit");
-	}
+	spinner->stop();
+	exit(-1);
 }
 
 int main(int argc, char** argv)
@@ -55,7 +54,7 @@ int main(int argc, char** argv)
 	app = new QApplication(argc, argv);
 	app->connect( app, SIGNAL( lastWindowClosed() ), app, SLOT( quit() ) );
 
-	GuiWrapper gui(argc, argv);
+	GuiWrapper * gui = new GuiWrapper(argc, argv);
 
 	// Catch ctrl-c to close the gui
 	// (Place this after QApplication's constructor)
@@ -66,15 +65,17 @@ int main(int argc, char** argv)
 	sigaction(SIGINT, &sigIntHandler, NULL);
 
 	// Here start the ROS events loop
-	ros::AsyncSpinner spinner(4); // Use 4 threads
-	spinner.start();
+	spinner = new ros::AsyncSpinner(1); // Use 1 thread
+	spinner->start();
 
 	ROS_INFO("rtabmapviz started.");
 	// Now wait for application to finish
 	int r = app->exec();// MUST be called by the Main Thread
 
-	spinner.stop();
+	spinner->stop();
+	delete spinner;
 
+	delete gui;
 	delete app;
 	ROS_INFO("rtabmapviz: All done! Closing...");
 	return r;

src/GuiWrapper.cpp

@@ -71,7 +71,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
 		mainWindow_(0),
 		frameId_("base_link"),
 		waitForTransform_(true),
-		waitForTransformDuration_(0.1), // 100 ms
+		waitForTransformDuration_(0.2), // 200 ms
 		cameraNodeName_(""),
 		lastOdomInfoUpdateTime_(0),
 		depthScanSync_(0),
@@ -211,6 +211,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
 
 GuiWrapper::~GuiWrapper()
 {
+	UDEBUG("");
 	if(depthSync_)
 		delete depthSync_;
 	if(depth2Sync_)