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Fixed loadDatabase and backup services fatal error when database is read-only

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This commit is contained in:
matlabbe
2026-01-30 22:03:31 +00:00
parent 758b7fa4cd
commit 9c003ccae5
1 changed files with 33 additions and 16 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+33 -16
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@@ -908,8 +908,7 @@ CoreWrapper::~CoreWrapper()
saveDatabase = false; saveDatabase = false;
} }
} }
rtabmap_.close(saveDatabase);
rtabmap_.close();
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_;
@@ -2970,18 +2969,27 @@ bool CoreWrapper::loadDatabaseCallback(rtabmap_msgs::LoadDatabase::Request& req,
// Close old database // Close old database
NODELET_INFO("LoadDatabase: Saving current map (%s)...", databasePath_.c_str()); NODELET_INFO("LoadDatabase: Saving current map (%s)...", 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);
NODELET_INFO("LoadDatabase: Saving current map (%s, %ld MB)... done!", databasePath_.c_str(), UFile::length(databasePath_)/(1024*1024)); NODELET_INFO("LoadDatabase: Saving current map (%s, %ld MB)... done!", databasePath_.c_str(), UFile::length(databasePath_)/(1024*1024));
covariance_ = cv::Mat(); covariance_ = cv::Mat();
@@ -3113,18 +3121,27 @@ bool CoreWrapper::triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Emp
bool CoreWrapper::backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&) bool CoreWrapper::backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{ {
NODELET_INFO("Backup: Saving memory..."); NODELET_INFO("Backup: Saving memory...");
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);
NODELET_INFO("Backup: Saving memory... done!"); NODELET_INFO("Backup: Saving memory... done!");
covariance_ = cv::Mat(); covariance_ = cv::Mat();