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set azimut3 launch RehearsedNodesKept=false

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Showing a QMessageBox in Rviz plugin when downloading the map

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1484 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-09 17:28:57 +00:00
parent 02c2ce7aac
commit 8a786d3c50
2 changed files with 54 additions and 16 deletions
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launch/azimut3/az3_mapping_robot.launch
+2 -2
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@@ -66,9 +66,9 @@
<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving --> <param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving --> <param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/> <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated --> <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
</node> </node>
</group> </group>
</launch> </launch>
src/rviz/MapCloudDisplay.cpp
+52 -14
View File
@@ -1,4 +1,8 @@
#include <QtGui/QApplication>
#include <QtGui/QMessageBox>
#include <QtCore/QTimer>
#include <OgreSceneNode.h> #include <OgreSceneNode.h>
#include <OgreSceneManager.h> #include <OgreSceneManager.h>
@@ -24,6 +28,7 @@
#include <rtabmap/MsgConversion.h> #include <rtabmap/MsgConversion.h>
#include <rtabmap/GetMap.h> #include <rtabmap/GetMap.h>
namespace rtabmap namespace rtabmap
{ {
@@ -412,25 +417,58 @@ void MapCloudDisplay::updateCloudParameters()
void MapCloudDisplay::downloadMap() void MapCloudDisplay::downloadMap()
{ {
rtabmap::GetMap getMapSrv; if(download_map_->getBool())
getMapSrv.request.global = true;
getMapSrv.request.optimized = true;
getMapSrv.request.graphOnly = false;
if(!ros::service::call("rtabmap/get_map", getMapSrv))
{ {
ROS_ERROR("MapCloudDisplay: Can't call \"rtabmap/get_map\" service. " rtabmap::GetMap getMapSrv;
"Tip: if rtabmap node is not in rtabmap namespace, you can remap the service " getMapSrv.request.global = true;
"to \"get_map\" in the launch " getMapSrv.request.optimized = true;
"file like: <remap from=\"rtabmap/get_map\" to=\"get_map\"/>."); getMapSrv.request.graphOnly = false;
ros::NodeHandle nh;
QMessageBox * messageBox = new QMessageBox(
QMessageBox::NoIcon,
tr("Calling \"%1\" service...").arg(nh.resolveName("rtabmap/get_map").c_str()),
tr("Downloading the map... please wait (rviz could become gray!)"),
QMessageBox::NoButton);
messageBox->setAttribute(Qt::WA_DeleteOnClose, true);
messageBox->show();
QApplication::processEvents();
uSleep(100); // hack make sure the text in the QMessageBox is shown...
QApplication::processEvents();
if(!ros::service::call("rtabmap/get_map", getMapSrv))
{
ROS_ERROR("MapCloudDisplay: Can't call \"%s\" service. "
"Tip: if rtabmap node is not in rtabmap namespace, you can remap the service "
"to \"get_map\" in the launch "
"file like: <remap from=\"rtabmap/get_map\" to=\"get_map\"/>.",
nh.resolveName("rtabmap/get_map").c_str());
messageBox->setText(tr("MapCloudDisplay: Can't call \"%1\" service. "
"Tip: if rtabmap node is not in rtabmap namespace, you can remap the service "
"to \"get_map\" in the launch "
"file like: <remap from=\"rtabmap/get_map\" to=\"get_map\"/>.").
arg(nh.resolveName("rtabmap/get_map").c_str()));
}
else
{
messageBox->setText(tr("Creating all clouds (%1 nodes downloaded)...").arg(getMapSrv.response.data.poses.size()));
QApplication::processEvents();
this->reset();
processMapData(getMapSrv.response.data);
messageBox->setText(tr("Creating all clouds (%1 nodes downloaded)... done!").arg(getMapSrv.response.data.poses.size()));
QTimer::singleShot(1000, messageBox, SLOT(close()));
}
download_map_->blockSignals(true);
download_map_->setBool(false);
download_map_->blockSignals(false);
} }
else else
{ {
this->reset(); // just stay true if double-clicked on DownloadMap property, let the
processMapData(getMapSrv.response.data); // first process above finishes
download_map_->blockSignals(true);
download_map_->setBool(true);
download_map_->blockSignals(false);
} }
download_map_->blockSignals(true);
download_map_->setBool(false);
download_map_->blockSignals(false);
} }
void MapCloudDisplay::causeRetransform() void MapCloudDisplay::causeRetransform()