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Updated rtabmap required version: 0.20.11

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matlabbe
2021-05-27 22:58:36 -04:00
parent 4c2d24dafb
commit 8a02275336
4 changed files with 3 additions and 12 deletions
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src/MapsManager.cpp
+1 -9
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@@ -69,7 +69,7 @@ MapsManager::MapsManager() :
assembledGround_(new pcl::PointCloud<pcl::PointXYZRGB>),
occupancyGrid_(new OccupancyGrid),
gridUpdated_(true),
octomap_(0),
octomap_(new OctoMap),
octomapTreeDepth_(16),
octomapUpdated_(true),
latching_(true)
@@ -131,11 +131,7 @@ void MapsManager::init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::s
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
pnh.param("octomap_frontier_flood_fill", octomap_frontier_flood_fill_, false);
pnh.param("octomap_tree_depth", octomapTreeDepth_, octomapTreeDepth_);
if(octomapTreeDepth_ > 16)
{
ROS_WARN("octomap_tree_depth maximum is 16");
@@ -147,10 +143,6 @@ void MapsManager::init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::s
octomapTreeDepth_ = 16;
}
ROS_INFO("%s(maps): octomap_tree_depth = %d", name.c_str(), octomapTreeDepth_);
octomap_ = new OctoMap(occupancyGrid_->getCellSize(), 0.5, occupancyGrid_->isFullUpdate(), occupancyGrid_->getUpdateError(), octomap_frontier_flood_fill_, octomapTreeDepth_);
#endif
#endif