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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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CMakeLists.txt
+1 -1
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@@ -31,7 +31,7 @@ find_package(find_object_2d)
## System dependencies are found with CMake's conventions ## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system) # find_package(Boost REQUIRED COMPONENTS system)
find_package(RTABMap 0.20.10 REQUIRED) find_package(RTABMap 0.20.11 REQUIRED)
find_package(OpenCV REQUIRED) find_package(OpenCV REQUIRED)
include/rtabmap_ros/MapsManager.h
-1
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@@ -128,7 +128,6 @@ private:
rtabmap::OctoMap * octomap_; rtabmap::OctoMap * octomap_;
int octomapTreeDepth_; int octomapTreeDepth_;
bool octomap_frontier_flood_fill_;
bool octomapUpdated_; bool octomapUpdated_;
rtabmap::ParametersMap parameters_; rtabmap::ParametersMap parameters_;
package.xml
+1 -1
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@@ -1,7 +1,7 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<package> <package>
<name>rtabmap_ros</name> <name>rtabmap_ros</name>
<version>0.20.10</version> <version>0.20.11</version>
<description>RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description> <description>RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer> <maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author> <author>Mathieu Labbe</author>
src/MapsManager.cpp
+1 -9
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@@ -69,7 +69,7 @@ MapsManager::MapsManager() :
assembledGround_(new pcl::PointCloud<pcl::PointXYZRGB>), assembledGround_(new pcl::PointCloud<pcl::PointXYZRGB>),
occupancyGrid_(new OccupancyGrid), occupancyGrid_(new OccupancyGrid),
gridUpdated_(true), gridUpdated_(true),
octomap_(0), octomap_(new OctoMap),
octomapTreeDepth_(16), octomapTreeDepth_(16),
octomapUpdated_(true), octomapUpdated_(true),
latching_(true) latching_(true)
@@ -131,11 +131,7 @@ void MapsManager::init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::s
#ifdef WITH_OCTOMAP_MSGS #ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
pnh.param("octomap_frontier_flood_fill", octomap_frontier_flood_fill_, false);
pnh.param("octomap_tree_depth", octomapTreeDepth_, octomapTreeDepth_); pnh.param("octomap_tree_depth", octomapTreeDepth_, octomapTreeDepth_);
if(octomapTreeDepth_ > 16) if(octomapTreeDepth_ > 16)
{ {
ROS_WARN("octomap_tree_depth maximum is 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; octomapTreeDepth_ = 16;
} }
ROS_INFO("%s(maps): octomap_tree_depth = %d", name.c_str(), octomapTreeDepth_); 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
#endif #endif