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rtabmap: Fixed some modified parameters not updated on param server when subscribed to lidar only

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matlabbe
2020-03-09 15:34:24 -04:00
parent 3207b412ce
commit b24f2fd1d4
1 changed files with 7 additions and 6 deletions
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src/CoreWrapper.cpp
+7 -6
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@@ -500,12 +500,6 @@ void CoreWrapper::onInit()
// Add all other parameters (not copied if already exists) // Add all other parameters (not copied if already exists)
parameters_.insert(allParameters.begin(), allParameters.end()); 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()) if(parameters_.find(Parameters::kRtabmapDetectionRate()) != parameters_.end())
{ {
Parameters::parse(parameters_, Parameters::kRtabmapDetectionRate(), rate_); 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); userDataAsyncSub_ = nh.subscribe("user_data_async", 1, &CoreWrapper::userDataAsyncCallback, this);
globalPoseAsyncSub_ = nh.subscribe("global_pose", 1, &CoreWrapper::globalPoseAsyncCallback, this); globalPoseAsyncSub_ = nh.subscribe("global_pose", 1, &CoreWrapper::globalPoseAsyncCallback, this);
gpsFixAsyncSub_ = nh.subscribe("gps/fix", 1, &CoreWrapper::gpsFixAsyncCallback, this); gpsFixAsyncSub_ = nh.subscribe("gps/fix", 1, &CoreWrapper::gpsFixAsyncCallback, this);