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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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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/OdometryROS.cpp
+11
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@@ -182,6 +182,17 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
}
}
rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argc, argv);
for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
rtabmap::ParametersMap::iterator jter = parameters_.find(iter->first);
if(jter!=parameters_.end())
{
ROS_INFO("Update odometry parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
jter->second = iter->second;
}
}
// Backward compatibility
for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=Parameters::getRemovedParameters().begin();
iter!=Parameters::getRemovedParameters().end();