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CommonSubscribers: subscribe_rgb default true

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matlabbe
2019-01-17 09:05:43 -05:00
parent dcbf84629a
commit b09ff6c511
2 changed files with 14 additions and 11 deletions
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launch/demo/demo_appearance_mapping.launch
+1
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@@ -13,6 +13,7 @@
<!-- args: "delete_db_on_start" and "udebug" --> <!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="subscribe_rgb" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_depth" type="bool" value="false"/> <!-- must be false for appearance-based mode --> <param name="subscribe_depth" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_odom" type="bool" value="false"/> <!-- must be false for appearance-based mode --> <param name="subscribe_odom" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="queue_size" type="int" value="10"/> <param name="queue_size" type="int" value="10"/>
src/CommonDataSubscriber.cpp
+13 -11
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@@ -36,7 +36,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
callbackCalled_(false), callbackCalled_(false),
subscribedToDepth_(!gui), subscribedToDepth_(!gui),
subscribedToStereo_(false), subscribedToStereo_(false),
subscribedToRGB_(false), subscribedToRGB_(!gui),
subscribedToOdom_(false), subscribedToOdom_(false),
subscribedToRGBD_(false), subscribedToRGBD_(false),
subscribedToScan2d_(false), subscribedToScan2d_(false),
@@ -300,25 +300,27 @@ void CommonDataSubscriber::setupCallbacks(
pnh.param("subscribe_odom_info", subscribeOdomInfo, subscribeOdomInfo); pnh.param("subscribe_odom_info", subscribeOdomInfo, subscribeOdomInfo);
pnh.param("subscribe_user_data", subscribeUserData, subscribeUserData); pnh.param("subscribe_user_data", subscribeUserData, subscribeUserData);
pnh.param("subscribe_odom", subscribeOdom, subscribeOdom); pnh.param("subscribe_odom", subscribeOdom, subscribeOdom);
if(subscribedToDepth_ && subscribedToRGB_)
{
ROS_WARN("rtabmap: Parameters subscribe_depth and subscribe_rgb cannot be true at the same time. Parameters subscribe_rgb is set to false.");
subscribedToRGB_ = false;
}
if(subscribedToStereo_ && subscribedToRGB_)
{
ROS_WARN("rtabmap: Parameters subscribe_stereo and subscribe_rgb cannot be true at the same time. Parameter subscribe_rgb is set to false.");
subscribedToRGB_ = false;
}
if(subscribedToDepth_ && subscribedToStereo_) if(subscribedToDepth_ && subscribedToStereo_)
{ {
ROS_WARN("rtabmap: Parameters subscribe_depth and subscribe_stereo cannot be true at the same time. Parameter subscribe_depth is set to false."); ROS_WARN("rtabmap: Parameters subscribe_depth and subscribe_stereo cannot be true at the same time. Parameter subscribe_depth is set to false.");
subscribedToDepth_ = false; subscribedToDepth_ = false;
subscribedToRGB_ = false;
}
if(subscribedToRGB_ && subscribedToStereo_)
{
ROS_WARN("rtabmap: Parameters subscribe_stereo and subscribe_rgb cannot be true at the same time. Parameter subscribe_rgb is set to false.");
subscribedToRGB_ = false;
} }
if(subscribedToDepth_ && subscribedToRGBD_) if(subscribedToDepth_ && subscribedToRGBD_)
{ {
ROS_WARN("rtabmap: Parameters subscribe_depth and subscribe_rgbd cannot be true at the same time. Parameter subscribe_depth is set to false."); ROS_WARN("rtabmap: Parameters subscribe_depth and subscribe_rgbd cannot be true at the same time. Parameter subscribe_depth is set to false.");
subscribedToDepth_ = false; subscribedToDepth_ = false;
subscribedToRGB_ = false;
}
if(subscribedToRGB_ && subscribedToRGBD_)
{
ROS_WARN("rtabmap: Parameters subscribe_rgb and subscribe_rgbd cannot be true at the same time. Parameter subscribe_rgb is set to false.");
subscribedToRGB_ = false;
} }
if(subscribedToStereo_ && subscribedToRGBD_) if(subscribedToStereo_ && subscribedToRGBD_)
{ {