i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 09:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/CoreWrapper.cpp
+8 -1
View File
@@ -71,7 +71,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
using namespace rtabmap;
CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters) :
paused_(false),
lastPose_(Transform::getIdentity()),
lastPoseIntermediate_(false),
@@ -281,6 +281,13 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
}
}
//update with input arguments
for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
uInsert(parameters_, ParametersPair(iter->first, iter->second));
ROS_INFO("Update RTAB-Map parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
}
// Backward compatibility
for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=Parameters::getRemovedParameters().begin();
iter!=Parameters::getRemovedParameters().end();