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fixed a warning where no scans are found when calling the service to publish the 3D map

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matlabbe
2015-07-19 20:51:32 -04:00
parent de98828dc3
commit 9822159f4b
3 changed files with 20 additions and 7 deletions
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src/CoreWrapper.cpp
+8 -6
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@@ -1687,7 +1687,9 @@ bool CoreWrapper::publishMapCallback(rtabmap_ros::PublishMap::Request& req, rtab
{
ROS_INFO("rtabmap: Publishing map...");
if(mapDataPub_.getNumSubscribers())
if(mapDataPub_.getNumSubscribers() ||
(!req.graphOnly && mapsManager_.hasSubscribers()) ||
(req.graphOnly && labelsPub_.getNumSubscribers()))
{
std::map<int, Transform> poses;
std::multimap<int, Link> constraints;
@@ -1714,7 +1716,7 @@ bool CoreWrapper::publishMapCallback(rtabmap_ros::PublishMap::Request& req, rtab
if(poses.size() && poses.size() != signatures.size())
{
ROS_ERROR("poses and signatures are not the same size!? %d vs %d", (int)poses.size(), (int)signatures.size());
ROS_WARN("poses and signatures are not the same size!? %d vs %d", (int)poses.size(), (int)signatures.size());
}
ros::Time now = ros::Time::now();
@@ -1733,7 +1735,7 @@ bool CoreWrapper::publishMapCallback(rtabmap_ros::PublishMap::Request& req, rtab
mapDataPub_.publish(msg);
}
if(!req.graphOnly)
if(!req.graphOnly && mapsManager_.hasSubscribers())
{
std::map<int, Transform> filteredPoses;
if(signatures.size())
@@ -1741,9 +1743,9 @@ bool CoreWrapper::publishMapCallback(rtabmap_ros::PublishMap::Request& req, rtab
filteredPoses = mapsManager_.updateMapCaches(
poses,
rtabmap_.getMemory(),
true,
true,
true,
false,
false,
false,
signatures);
}
else