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Fixed #1186

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This commit is contained in:
matlabbe
2024-07-21 16:20:34 -07:00
parent 680fe729c5
commit a97efff760
2 changed files with 111 additions and 113 deletions
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.devcontainer/devcontainer.json
+2 -1
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@@ -7,5 +7,6 @@
}, },
"workspaceMount": "source=${localWorkspaceFolder},target=/catkin_ws/src/rtabmap_ros,type=bind", "workspaceMount": "source=${localWorkspaceFolder},target=/catkin_ws/src/rtabmap_ros,type=bind",
"workspaceFolder": "/catkin_ws", "workspaceFolder": "/catkin_ws",
"postAttachCommand": "echo 'Initialize catkin: source /opt/ros/noetic/setup.bash && cd /catkin_ws/src && catkin_init_workspace && cd /catkin_ws && catkin_make'" "postAttachCommand": "echo 'Initialize catkin: source /opt/ros/noetic/setup.bash && cd /catkin_ws/src && catkin_init_workspace && cd /catkin_ws && catkin_make'",
"runArgs": ["--privileged"]
} }
rtabmap_odom/src/OdometryROS.cpp
+1 -4
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@@ -932,8 +932,6 @@ void OdometryROS::processData(SensorData & data, const std_msgs::Header & header
} }
} }
if(!data.imageRaw().empty() || !data.laserScanRaw().isEmpty())
{
if(odomSensorDataPub_.getNumSubscribers() || odomSensorDataFeaturesPub_.getNumSubscribers()) if(odomSensorDataPub_.getNumSubscribers() || odomSensorDataFeaturesPub_.getNumSubscribers())
{ {
rtabmap_msgs::SensorData msg; rtabmap_msgs::SensorData msg;
@@ -1039,7 +1037,7 @@ void OdometryROS::processData(SensorData & data, const std_msgs::Header & header
} }
statusDiagnostic_.setStatus(pose.isNull()); statusDiagnostic_.setStatus(pose.isNull());
if(syncDiagnostic_.get() && !pose.isNull()) if(syncDiagnostic_.get())
{ {
double curentRate = 1.0/(ros::WallTime::now()-time).toSec(); double curentRate = 1.0/(ros::WallTime::now()-time).toSec();
syncDiagnostic_->tick(header.stamp, syncDiagnostic_->tick(header.stamp,
@@ -1050,7 +1048,6 @@ void OdometryROS::processData(SensorData & data, const std_msgs::Header & header
previousStamp_ = header.stamp.toSec(); previousStamp_ = header.stamp.toSec();
} }
}
bool OdometryROS::reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&) bool OdometryROS::reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{ {