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Removed not used octomap_ros dependency

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This commit is contained in:
matlabbe
2018-09-29 13:51:48 -04:00
parent ec97b3c83d
commit bc0a13748c
5 changed files with 30 additions and 30 deletions
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src/MapsManager.cpp
+12 -12
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@@ -46,7 +46,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl_conversions/pcl_conversions.h>
#ifdef WITH_OCTOMAP_ROS
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
#include <octomap_msgs/conversions.h>
#include <octomap/ColorOcTree.h>
@@ -104,7 +104,7 @@ void MapsManager::init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::s
ROS_INFO("%s(maps): cloud_subtract_filtering = %s", name.c_str(), cloudSubtractFiltering_?"true":"false");
ROS_INFO("%s(maps): cloud_subtract_filtering_min_neighbors = %d", name.c_str(), cloudSubtractFilteringMinNeighbors_);
#ifdef WITH_OCTOMAP_ROS
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
octomap_ = new OctoMap(occupancyGrid_->getCellSize(), 0.5, occupancyGrid_->isFullUpdate(), occupancyGrid_->getUpdateError());
pnh.param("octomap_tree_depth", octomapTreeDepth_, octomapTreeDepth_);
@@ -148,7 +148,7 @@ void MapsManager::init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::s
projMapPub_ = nht->advertise<nav_msgs::OccupancyGrid>("proj_map", 1, latch);
scanMapPub_ = nht->advertise<sensor_msgs::PointCloud2>("scan_map", 1, latch);
#ifdef WITH_OCTOMAP_ROS
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
octoMapPubBin_ = nht->advertise<octomap_msgs::Octomap>("octomap_binary", 1, latch);
octoMapPubFull_ = nht->advertise<octomap_msgs::Octomap>("octomap_full", 1, latch);
@@ -166,7 +166,7 @@ MapsManager::~MapsManager() {
delete occupancyGrid_;
#ifdef WITH_OCTOMAP_ROS
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
if(octomap_)
{
@@ -265,7 +265,7 @@ void MapsManager::backwardCompatibilityParameters(ros::NodeHandle & pnh, Paramet
parameterMoved(pnh, "grid_eroded", Parameters::kGridGlobalEroded(), parameters);
parameterMoved(pnh, "grid_footprint_radius", Parameters::kGridGlobalFootprintRadius(), parameters);
#ifdef WITH_OCTOMAP_ROS
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
parameterMoved(pnh, "octomap_ground_is_obstacle", Parameters::kGridGroundIsObstacle(), parameters);
parameterMoved(pnh, "octomap_occupancy_thr", Parameters::kGridGlobalOccupancyThr(), parameters);
@@ -278,7 +278,7 @@ void MapsManager::setParameters(const rtabmap::ParametersMap & parameters)
parameters_ = parameters;
occupancyGrid_->parseParameters(parameters_);
#ifdef WITH_OCTOMAP_ROS
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
if(octomap_)
{
@@ -351,7 +351,7 @@ void MapsManager::clear()
groundClouds_.clear();
obstacleClouds_.clear();
occupancyGrid_->clear();
#ifdef WITH_OCTOMAP_ROS
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
octomap_->clear();
#endif
@@ -418,7 +418,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
scanMapPub_.getNumSubscribers() != 0;
}
#ifndef WITH_OCTOMAP_ROS
#ifndef WITH_OCTOMAP_MSGS
updateOctomap = false;
#endif
#ifndef RTABMAP_OCTOMAP
@@ -487,7 +487,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
ROS_WARN("Many occupancy grids should be loaded (~%d), this may take a while to update the map(s)...", int(filteredPoses.size()-gridMaps_.size()));
longUpdate = true;
}
#ifdef WITH_OCTOMAP_ROS
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
if(updateOctomap && octomap_->addedNodes().size() < 5)
{
@@ -642,7 +642,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
}
}
#ifdef WITH_OCTOMAP_ROS
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
if(updateOctomap &&
(iter->first < 0 ||
@@ -680,7 +680,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
occupancyGrid_->update(filteredPoses);
}
#ifdef WITH_OCTOMAP_ROS
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
if(updateOctomap)
{
@@ -1108,7 +1108,7 @@ void MapsManager::publishMaps(
obstacleClouds_.clear();
}
#ifdef WITH_OCTOMAP_ROS
#ifdef WITH_OCTOMAP_MSGS
#ifdef RTABMAP_OCTOMAP
if(octoMapPubBin_.getNumSubscribers() ||
octoMapPubFull_.getNumSubscribers() ||