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Added rgbdslam_datasets.launch example to run RGBD SLAM datasets with RTAB-Map. Added "wait_to_transform" parameter (bool) to all nodes calling lookUpTransform()

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Mathieu Labbe
2014-12-03 22:35:43 -05:00
parent cbdcd855d8
commit aa8aa24e5d
15 changed files with 693 additions and 7 deletions
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src/StereoOdometryNode.cpp
+9 -1
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@@ -128,7 +128,15 @@ public:
tf::StampedTransform localTransform;
try
{
UDEBUG("");
if(this->waitForTransform())
{
if(!this->tfListener().waitForTransform(this->frameId(), imageRectLeft->header.frame_id, imageRectLeft->header.stamp, ros::Duration(1)))
{
ROS_WARN("Could not get transform from %s to %s after 1 second!", this->frameId().c_str(), imageRectLeft->header.frame_id.c_str());
return;
}
}
this->tfListener().lookupTransform(this->frameId(), imageRectLeft->header.frame_id, imageRectLeft->header.stamp, localTransform);
}
catch(tf::TransformException & ex)