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RTAB-Map parameters can be also set using node arguments (or rtabmap_args for some launch files)

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This commit is contained in:
matlabbe
2016-03-11 16:56:32 -05:00
parent 542aa43ccc
commit af87689718
4 changed files with 23 additions and 20 deletions
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src/CoreNode.cpp
+3 -18
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@@ -48,18 +48,6 @@ int main(int argc, char** argv)
{
deleteDbOnStart = true;
}
else if(strcmp(argv[i], "--udebug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
else if(strcmp(argv[i], "--uwarn") == 0)
{
ULogger::setLevel(ULogger::kWarning);
}
else if(strcmp(argv[i], "--params") == 0 || strcmp(argv[i], "--params-all") == 0)
{
rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
@@ -98,14 +86,11 @@ int main(int argc, char** argv)
"argument \"--params\" is detected!");
exit(0);
}
else
{
ROS_ERROR("Not recognized argument \"%s\"", argv[i]);
exit(-1);
}
}
CoreWrapper * rtabmap = new CoreWrapper(deleteDbOnStart);
rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argc, argv);
CoreWrapper * rtabmap = new CoreWrapper(deleteDbOnStart, parameters);
ROS_INFO("rtabmap %s started...", RTABMAP_VERSION);
ros::spin();