From b3e3c9dbb36c0e7210f1e4c1d14d24980e286341 Mon Sep 17 00:00:00 2001 From: Mathieu Labbe Date: Fri, 20 Feb 2015 15:34:00 -0500 Subject: [PATCH] updated on rtabmap trunk --- src/CoreWrapper.cpp | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp index 3d52a715..0a80d939 100644 --- a/src/CoreWrapper.cpp +++ b/src/CoreWrapper.cpp @@ -233,6 +233,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) : oldParameterNames.push_back("LccReextract/LoopClosureFeatures"); oldParameterNames.push_back("Rtabmap/DetectorStrategy"); oldParameterNames.push_back("RGBD/ScanMatchingSize"); + oldParameterNames.push_back("RGBD/LocalLoopDetectionRadius"); for(std::list::iterator iter=oldParameterNames.begin(); iter!=oldParameterNames.end(); ++iter) { std::string vStr; @@ -256,6 +257,12 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) : Parameters::kRGBDPoseScanMatching().c_str()); parameters.at(Parameters::kRGBDPoseScanMatching())= std::atoi(vStr.c_str()) > 0?"true":"false"; } + else if(iter->compare("RGBD/LocalLoopDetectionRadius") == 0) + { + ROS_WARN("Parameter name changed: RGBD/LocalLoopDetectionRadius -> %s. Please update your launch file accordingly.", + Parameters::kRGBDLocalRadius().c_str()); + parameters.at(Parameters::kRGBDLocalRadius())= vStr; + } } } @@ -1019,7 +1026,8 @@ void CoreWrapper::process( } else { - ROS_ERROR("Planning: Local map broken (the robot may have moved to far from planned nodes)"); + ROS_ERROR("Planning: Local map broken, current goal id=%d (the robot may have moved to far from planned nodes)", + rtabmap_.getPathCurrentGoalId()); rtabmap_.clearPath(); if(goalReachedPub_.getNumSubscribers()) { @@ -1115,7 +1123,7 @@ void CoreWrapper::goalCommonCallback(const std::vector { ROS_WARN("Planning: Goal already reached (RGBD/GoalReachedRadius=%fm) or too far from the graph (RGBD/GoalMaxDistance=%fm).", rtabmap_.getGoalReachedRadius(), - rtabmap_.getGoalMaxDistance()); + rtabmap_.getLocalRadius()); rtabmap_.clearPath(); if(goalReachedPub_.getNumSubscribers()) {