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Updated rtabmap_demos launch files with new structure.

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This commit is contained in:
matlabbe
2023-03-04 14:24:18 -08:00
parent 523b4c6e6a
commit a7675b7c09
28 changed files with 166 additions and 152 deletions
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rtabmap_viz/src/GuiWrapper.cpp
+12 -12
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@@ -98,7 +98,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
pnh.param("rtabmap", rtabmapNodeName_, rtabmapNodeName_);
ROS_INFO("rtabmapviz: Using configuration from \"%s\"", configFile.toStdString().c_str());
ROS_INFO("rtabmap_viz: Using configuration from \"%s\"", configFile.toStdString().c_str());
uSleep(500);
prefDialog_ = new PreferencesDialogROS(configFile, rtabmapNodeName_);
mainWindow_ = new MainWindow(prefDialog_);
@@ -127,7 +127,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
{
initCachePath = UDirectory::currentDir(true) + initCachePath;
}
ROS_INFO("rtabmapviz: Initializing cache with local database \"%s\"", initCachePath.c_str());
ROS_INFO("rtabmap_viz: Initializing cache with local database \"%s\"", initCachePath.c_str());
uSleep(2000); // make sure rtabmap node is created if launched at the same time
rtabmap_msgs::GetMap getMapSrv;
getMapSrv.request.global = false;
@@ -136,7 +136,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
if(!ros::service::call("get_map", getMapSrv))
{
ROS_WARN("Can't call \"get_map\" service. The cache will still be loaded "
"but the clouds won't be created until next time rtabmapviz "
"but the clouds won't be created until next time rtabmap_viz "
"receives the optimized graph.");
}
else
@@ -189,7 +189,7 @@ void GuiWrapper::infoMapCallback(
const rtabmap_msgs::InfoConstPtr & infoMsg,
const rtabmap_msgs::MapDataConstPtr & mapMsg)
{
//ROS_INFO("rtabmapviz: RTAB-Map info ex received!");
//ROS_INFO("rtabmap_viz: RTAB-Map info ex received!");
// Map from ROS struct to rtabmap struct
rtabmap::Statistics stat;
@@ -567,7 +567,7 @@ void GuiWrapper::commonMultiCameraCallback(
waitForTransform_?waitForTransformDuration_:0.0,
imagesAlreadyRectified))
{
ROS_ERROR("Could not convert rgb/depth msgs! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert rgb/depth msgs! Aborting rtabmap_viz update...");
return;
}
}
@@ -583,7 +583,7 @@ void GuiWrapper::commonMultiCameraCallback(
tfListener_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -598,7 +598,7 @@ void GuiWrapper::commonMultiCameraCallback(
tfListener_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -756,7 +756,7 @@ void GuiWrapper::commonStereoCallback(
waitForTransform_?waitForTransformDuration_:0.0,
imagesAlreadyRectified))
{
ROS_ERROR("Could not convert stereo msgs! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert stereo msgs! Aborting rtabmap_viz update...");
return;
}
@@ -771,7 +771,7 @@ void GuiWrapper::commonStereoCallback(
tfListener_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -786,7 +786,7 @@ void GuiWrapper::commonStereoCallback(
tfListener_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -918,7 +918,7 @@ void GuiWrapper::commonLaserScanCallback(
tfListener_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -933,7 +933,7 @@ void GuiWrapper::commonLaserScanCallback(
tfListener_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmap_viz update...");
return;
}
}