From b24f2fd1d44016416419710e93341087b566e1a5 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 9 Mar 2020 15:34:24 -0400 Subject: [PATCH] rtabmap: Fixed some modified parameters not updated on param server when subscribed to lidar only --- src/CoreWrapper.cpp | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp index 9057cd45..d14061d5 100644 --- a/src/CoreWrapper.cpp +++ b/src/CoreWrapper.cpp @@ -500,12 +500,6 @@ void CoreWrapper::onInit() // Add all other parameters (not copied if already exists) parameters_.insert(allParameters.begin(), allParameters.end()); - // set public parameters - nh.setParam("is_rtabmap_paused", paused_); - for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter) - { - nh.setParam(iter->first, iter->second); - } if(parameters_.find(Parameters::kRtabmapDetectionRate()) != parameters_.end()) { Parameters::parse(parameters_, Parameters::kRtabmapDetectionRate(), rate_); @@ -715,6 +709,13 @@ void CoreWrapper::onInit() } } + // set public parameters + nh.setParam("is_rtabmap_paused", paused_); + for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter) + { + nh.setParam(iter->first, iter->second); + } + userDataAsyncSub_ = nh.subscribe("user_data_async", 1, &CoreWrapper::userDataAsyncCallback, this); globalPoseAsyncSub_ = nh.subscribe("global_pose", 1, &CoreWrapper::globalPoseAsyncCallback, this); gpsFixAsyncSub_ = nh.subscribe("gps/fix", 1, &CoreWrapper::gpsFixAsyncCallback, this);