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Gui: removed tf_prefix parameter (related to https://github.com/introlab/rtabmap_ros/commit/18d09f0405a2e626034feade52dda9c0333ecfc9)

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This commit is contained in:
matlabbe
2021-06-14 14:15:34 -04:00
parent f7beb23061
commit a9e1202667
1 changed files with 2 additions and 11 deletions
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src/GuiWrapper.cpp
+2 -11
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@@ -104,11 +104,9 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
mainWindow_->setMonitoringState(paused);
// To receive odometry events
std::string tfPrefix;
std::string initCachePath;
pnh.param("frame_id", frameId_, frameId_);
pnh.param("odom_frame_id", odomFrameId_, odomFrameId_); // set to use odom from TF
pnh.param("tf_prefix", tfPrefix, tfPrefix);
pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
pnh.param("odom_sensor_sync", odomSensorSync_, odomSensorSync_);
@@ -142,16 +140,9 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
QMetaObject::invokeMethod(mainWindow_, "updateCacheFromDatabase", Q_ARG(QString, QString(initCachePath.c_str())));
}
if(!tfPrefix.empty())
if(pnh.hasParam("tf_prefix"))
{
if(!frameId_.empty())
{
frameId_ = tfPrefix + "/" + frameId_;
}
if(!odomFrameId_.empty())
{
odomFrameId_ = tfPrefix + "/" + odomFrameId_;
}
ROS_ERROR("tf_prefix parameter has been removed, use directly odom_frame_id and frame_id parameters.");
}
UEventsManager::addHandler(this);