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Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2

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matlabbe
2026-01-22 16:04:02 -08:00
parent d63accf181 758b7fa4cd
commit 8fbf9f7385
2 changed files with 17 additions and 8 deletions
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rtabmap_conversions/CMakeLists.txt
+1 -1
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@@ -29,7 +29,7 @@ find_package(tf2 REQUIRED)
find_package(tf2_eigen REQUIRED) find_package(tf2_eigen REQUIRED)
find_package(tf2_geometry_msgs REQUIRED) find_package(tf2_geometry_msgs REQUIRED)
find_package(RTABMap 0.22.0 REQUIRED) find_package(RTABMap 0.23.4 REQUIRED)
include_directories( include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/include ${CMAKE_CURRENT_SOURCE_DIR}/include
rtabmap_slam/src/CoreWrapper.cpp
+16 -7
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@@ -999,19 +999,28 @@ CoreWrapper::~CoreWrapper()
this->saveParameters(configPath_); this->saveParameters(configPath_);
printf("rtabmap: Saving database/long-term memory... (located at %s)\n", databasePath_.c_str()); printf("rtabmap: Saving database/long-term memory... (located at %s)\n", databasePath_.c_str());
bool saveDatabase = true;
if(rtabmap_.getMemory()) if(rtabmap_.getMemory())
{ {
// save the grid map if(!rtabmap_.getMemory()->isReadOnly())
float xMin=0.0f, yMin=0.0f, gridCellSize = 0.05f;
cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize);
if(!pixels.empty())
{ {
printf("rtabmap: 2D occupancy grid map saved.\n"); // save the grid map
rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize); float xMin=0.0f, yMin=0.0f, gridCellSize = 0.05f;
cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize);
if(!pixels.empty())
{
printf("rtabmap: 2D occupancy grid map saved.\n");
rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize);
}
}
else
{
printf("rtabmap: Database is read-only, the current state of the memory is not saved.\n");
saveDatabase = false;
} }
} }
rtabmap_.close(); rtabmap_.close(saveDatabase);
printf("rtabmap: Saving database/long-term memory...done! (located at %s, %ld MB)\n", databasePath_.c_str(), UFile::length(databasePath_)/(1024*1024)); printf("rtabmap: Saving database/long-term memory...done! (located at %s, %ld MB)\n", databasePath_.c_str(), UFile::length(databasePath_)/(1024*1024));
delete interOdomSync_; delete interOdomSync_;