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updating param server when calling set_mode_localization or set_mode_mapping services

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matlabbe
2016-11-28 16:25:01 -05:00
parent 19eb9cb836
commit a03d0ae4e1
1 changed files with 4 additions and 0 deletions
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src/CoreWrapper.cpp
+4
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@@ -1571,6 +1571,8 @@ bool CoreWrapper::setModeLocalizationCallback(std_srvs::Empty::Request&, std_srv
NODELET_INFO("rtabmap: Set localization mode"); NODELET_INFO("rtabmap: Set localization mode");
rtabmap::ParametersMap parameters; rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "false")); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "false"));
ros::NodeHandle & nh = getNodeHandle();
nh.setParam(rtabmap::Parameters::kMemIncrementalMemory(), "false");
rtabmap_.parseParameters(parameters); rtabmap_.parseParameters(parameters);
return true; return true;
} }
@@ -1580,6 +1582,8 @@ bool CoreWrapper::setModeMappingCallback(std_srvs::Empty::Request&, std_srvs::Em
NODELET_INFO("rtabmap: Set mapping mode"); NODELET_INFO("rtabmap: Set mapping mode");
rtabmap::ParametersMap parameters; rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "true")); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "true"));
ros::NodeHandle & nh = getNodeHandle();
nh.setParam(rtabmap::Parameters::kMemIncrementalMemory(), "true");
rtabmap_.parseParameters(parameters); rtabmap_.parseParameters(parameters);
return true; return true;
} }