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updated on rtabmap trunk

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This commit is contained in:
Mathieu Labbe
2015-02-20 15:34:00 -05:00
parent 9c823cb93e
commit b3e3c9dbb3
1 changed files with 10 additions and 2 deletions
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src/CoreWrapper.cpp
+10 -2
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@@ -233,6 +233,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
oldParameterNames.push_back("LccReextract/LoopClosureFeatures"); oldParameterNames.push_back("LccReextract/LoopClosureFeatures");
oldParameterNames.push_back("Rtabmap/DetectorStrategy"); oldParameterNames.push_back("Rtabmap/DetectorStrategy");
oldParameterNames.push_back("RGBD/ScanMatchingSize"); oldParameterNames.push_back("RGBD/ScanMatchingSize");
oldParameterNames.push_back("RGBD/LocalLoopDetectionRadius");
for(std::list<std::string>::iterator iter=oldParameterNames.begin(); iter!=oldParameterNames.end(); ++iter) for(std::list<std::string>::iterator iter=oldParameterNames.begin(); iter!=oldParameterNames.end(); ++iter)
{ {
std::string vStr; std::string vStr;
@@ -256,6 +257,12 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
Parameters::kRGBDPoseScanMatching().c_str()); Parameters::kRGBDPoseScanMatching().c_str());
parameters.at(Parameters::kRGBDPoseScanMatching())= std::atoi(vStr.c_str()) > 0?"true":"false"; 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 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(); rtabmap_.clearPath();
if(goalReachedPub_.getNumSubscribers()) if(goalReachedPub_.getNumSubscribers())
{ {
@@ -1115,7 +1123,7 @@ void CoreWrapper::goalCommonCallback(const std::vector<std::pair<int, Transform>
{ {
ROS_WARN("Planning: Goal already reached (RGBD/GoalReachedRadius=%fm) or too far from the graph (RGBD/GoalMaxDistance=%fm).", ROS_WARN("Planning: Goal already reached (RGBD/GoalReachedRadius=%fm) or too far from the graph (RGBD/GoalMaxDistance=%fm).",
rtabmap_.getGoalReachedRadius(), rtabmap_.getGoalReachedRadius(),
rtabmap_.getGoalMaxDistance()); rtabmap_.getLocalRadius());
rtabmap_.clearPath(); rtabmap_.clearPath();
if(goalReachedPub_.getNumSubscribers()) if(goalReachedPub_.getNumSubscribers())
{ {