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

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matlabbe
2026-01-31 12:14:05 -08:00
parent 8fbf9f7385 9c003ccae5
commit 9d41d998fd
1 changed files with 32 additions and 14 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+32 -14
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@@ -3356,18 +3356,27 @@ void CoreWrapper::loadDatabaseCallback(
// Close old database
RCLCPP_INFO(get_logger(), "LoadDatabase: Saving current map (%s)...", databasePath_.c_str());
bool saveDatabase = true;
if(rtabmap_.getMemory())
{
// save the grid map
float xMin=0.0f, yMin=0.0f, gridCellSize = 0.05f;
cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize);
if(!pixels.empty())
if(!rtabmap_.getMemory()->isReadOnly())
{
printf("rtabmap: 2D occupancy grid map saved.\n");
rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize);
// save the grid map
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);
RCLCPP_INFO(get_logger(), "LoadDatabase: Saving current map (%s, %ld MB)... done!", databasePath_.c_str(), UFile::length(databasePath_)/(1024*1024));
lastPoseMutex_.lock();
@@ -3512,18 +3521,27 @@ void CoreWrapper::backupDatabaseCallback(
std::shared_ptr<std_srvs::srv::Empty::Response>)
{
RCLCPP_INFO(this->get_logger(), "Backup: Saving memory...");
bool saveDatabase = true;
if(rtabmap_.getMemory())
{
// save the grid map
float xMin=0.0f, yMin=0.0f, gridCellSize = 0.05f;
cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize);
if(!pixels.empty())
if(!rtabmap_.getMemory()->isReadOnly())
{
printf("rtabmap: 2D occupancy grid map saved.\n");
rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize);
// save the grid map
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);
RCLCPP_INFO(this->get_logger(), "Backup: Saving memory... done!");
lastPoseMutex_.lock();