i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 01:07:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge master->ros2 (fixed #674)

Browse Source
This commit is contained in:
matlabbe
2021-11-03 12:05:28 -04:00
parent f54404812f 70bc399907
commit ab1288cccc
8 changed files with 67 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/nodelets/stereo_odometry.cpp
+14 -1
View File
@@ -180,7 +180,20 @@ void StereoOdometry::callback(
waitForTransform());
if(stereoTransform.isNull())
{
RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get TF between the two cameras!", Parameters::kRtabmapImagesAlreadyRectified().c_str());
RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get TF between the two cameras! (between frames %s and %s)",
Parameters::kRtabmapImagesAlreadyRectified().c_str(),
cameraInfoRight->header.frame_id.c_str(),
cameraInfoLeft->header.frame_id.c_str());
return;
}
else if(stereoTransform.isIdentity())
{
RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get a valid TF between the two cameras! "
"Identity transform returned between left and right cameras. Verify that if TF between "
"the cameras is valid: \"rosrun tf tf_echo %s %s\".",
Parameters::kRtabmapImagesAlreadyRectified().c_str(),
cameraInfoRight->header.frame_id.c_str(),
cameraInfoLeft->header.frame_id.c_str());
return;
}
}