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Fixed build without octomap-msgs

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matlabbe
2021-10-07 08:44:47 -04:00
parent 2f58aba80d
commit b531f96c31
2 changed files with 8 additions and 3 deletions
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package.xml
-1
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@@ -77,7 +77,6 @@
<exec_depend>octomap</exec_depend> <exec_depend>octomap</exec_depend>
<exec_depend>octomap_msgs</exec_depend> <exec_depend>octomap_msgs</exec_depend>
<exec_depend>image_geometry</exec_depend> <exec_depend>image_geometry</exec_depend>
<exec_depend>find_object_2d</exec_depend>
<exec_depend>pluginlib</exec_depend> <exec_depend>pluginlib</exec_depend>
<exec_depend>rviz_common</exec_depend> <exec_depend>rviz_common</exec_depend>
<exec_depend>rviz_rendering</exec_depend> <exec_depend>rviz_rendering</exec_depend>
src/MapsManager.cpp
+8 -2
View File
@@ -323,13 +323,17 @@ bool MapsManager::hasSubscribers() const
cloudObstaclesPub_->get_subscription_count() != 0 || cloudObstaclesPub_->get_subscription_count() != 0 ||
cloudGroundPub_->get_subscription_count() != 0 || cloudGroundPub_->get_subscription_count() != 0 ||
gridMapPub_->get_subscription_count() != 0 || gridMapPub_->get_subscription_count() != 0 ||
gridProbMapPub_->get_subscription_count() != 0 || gridProbMapPub_->get_subscription_count() != 0
#ifdef WITH_OCTOMAP_MSGS
||
octoMapCloud_->get_subscription_count() != 0 || octoMapCloud_->get_subscription_count() != 0 ||
octoMapFrontierCloud_->get_subscription_count() != 0 || octoMapFrontierCloud_->get_subscription_count() != 0 ||
octoMapObstacleCloud_->get_subscription_count() != 0 || octoMapObstacleCloud_->get_subscription_count() != 0 ||
octoMapGroundCloud_->get_subscription_count() != 0 || octoMapGroundCloud_->get_subscription_count() != 0 ||
octoMapEmptySpace_->get_subscription_count() != 0 || octoMapEmptySpace_->get_subscription_count() != 0 ||
octoMapProj_->get_subscription_count() != 0; octoMapProj_->get_subscription_count() != 0
#endif
;
} }
std::map<int, Transform> MapsManager::getFilteredPoses(const std::map<int, Transform> & poses) std::map<int, Transform> MapsManager::getFilteredPoses(const std::map<int, Transform> & poses)
@@ -354,6 +358,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
if(!updateGrid && !updateOctomap) if(!updateGrid && !updateOctomap)
{ {
// all false, update only those where we have subscribers // all false, update only those where we have subscribers
#ifdef WITH_OCTOMAP_MSGS
updateOctomap = updateOctomap =
octoMapCloud_->get_subscription_count() != 0 || octoMapCloud_->get_subscription_count() != 0 ||
octoMapFrontierCloud_->get_subscription_count() != 0 || octoMapFrontierCloud_->get_subscription_count() != 0 ||
@@ -361,6 +366,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
octoMapGroundCloud_->get_subscription_count() != 0 || octoMapGroundCloud_->get_subscription_count() != 0 ||
octoMapEmptySpace_->get_subscription_count() != 0 || octoMapEmptySpace_->get_subscription_count() != 0 ||
octoMapProj_->get_subscription_count() != 0; octoMapProj_->get_subscription_count() != 0;
#endif
updateGrid = gridMapPub_->get_subscription_count() != 0 || updateGrid = gridMapPub_->get_subscription_count() != 0 ||
gridProbMapPub_->get_subscription_count() != 0; gridProbMapPub_->get_subscription_count() != 0;